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#include <Arduino.h>
#include "motors.h"
#include "rgb.h"
#include "oled.h"
#include "animations.h"
RGB rgb;
MOTORS motors;
OLED oled;
TaskHandle_t TaskOled;
TaskHandle_t TaskRgb;
TaskHandle_t TaskMotors;
enum State {
NEUTRAL,
HAPPY,
SAD,
ANGRY
};
volatile State currentState = NEUTRAL;
void oledTask(void * pvParameters) {
for(;;) {
switch(currentState) {
case HAPPY:
oled.showAnimation(animacja1[0], animacja1FrameCount, animacja1Height, animacja1Width, 160);
break;
case SAD:
oled.showAnimation(animacja2[0], animacja2FrameCount, animacja2Height, animacja2Width, 160);
break;
case ANGRY:
oled.showMessage("angry");
break;
default:
oled.showMessage("neutral");
break;
}
vTaskDelay(10 / portTICK_PERIOD_MS);
}
}
void rgbTask(void * pvParameters) {
for(;;) {
switch(currentState) {
case HAPPY:
rgb.setColorRGB(255, 250, 0, 100);
rgb.blink(3, 300);
break;
case SAD:
rgb.breathe(3, 40);
break;
case ANGRY:
rgb.setColorRGB(255, 0, 0, 100);
rgb.blink(3, 300);
break;
default:
rgb.setColorRGB(0, 0, 0, true);
break;
}
vTaskDelay(10 / portTICK_PERIOD_MS);
}
}
void motorsTask(void * pvParameters) {
for(;;) {
switch(currentState) {
case HAPPY:
motors.leftTurn(100,1000);
motors.rightTurn(100,1000);
break;
case SAD:
break;
case ANGRY:
motors.forward(100,1000);
motors.backward(100,1000);
break;
default:
break;
}
vTaskDelay(10 / portTICK_PERIOD_MS);
}
}
void setup() {
oled.init();
rgb.init();
motors.init();
xTaskCreate(oledTask, "OLED Task", 4096, NULL, 1, NULL);
xTaskCreate(rgbTask, "RGB Task", 2048, NULL, 1, NULL);
xTaskCreate(motorsTask, "RGB Task", 2048, NULL, 1, NULL);
currentState = NEUTRAL;
}
void loop() {
currentState = HAPPY;
delay(5000);
currentState = NEUTRAL;
delay(5000);
currentState = ANGRY;
delay(5000);
currentState = SAD;
delay(5000);
}
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