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added gastank side -> set angle action. (102)

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Dooho Yi 2021-01-20 23:53:45 +09:00
parent dad6aa2ea4
commit e7b2da3246
1 changed files with 29 additions and 15 deletions
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44
gastank/src/main.cpp
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@ -44,6 +44,7 @@
//============<gastank>============ //============<gastank>============
#define GASTANK_SIDE_KEY 100 #define GASTANK_SIDE_KEY 100
#define GASTANK_HEAD_KEY 101 #define GASTANK_HEAD_KEY 101
#define GASTANK_SIDE_MOVE_KEY 102
//============</gastank>=========== //============</gastank>===========
//============<parameters>============ //============<parameters>============
@ -157,9 +158,15 @@ Task nothappyalone_task(100, TASK_FOREVER, &nothappyalone); // by default, ENABL
// my tasks // my tasks
// ring_side. // ring_side. - common
static Servo side; static Servo side;
extern Task side_release_task; extern Task side_release_task;
void side_release() {
side.detach();
}
Task side_release_task(0, TASK_ONCE, &side_release);
// ring_side. - act type #1 (hit)
extern Task ring_side_task; extern Task ring_side_task;
int side_start_angle = 170; int side_start_angle = 170;
int side_hit_angle = 100; int side_hit_angle = 100;
@ -180,23 +187,25 @@ void ring_side() {
side_release_task.restartDelayed(100); side_release_task.restartDelayed(100);
} }
count++; count++;
// int angle = random(80, 125);
// //
// Serial.print("ring_side go -> ");
// Serial.print(angle);
// Serial.println(" deg.");
// //
// side.attach(D6);
// side.write(angle);
// side_release_task.restartDelayed(100);
} }
Task ring_side_task(100, 3, &ring_side); Task ring_side_task(100, 3, &ring_side);
// Task ring_side_task(0, TASK_ONCE, &ring_side);
void side_release() {
side.detach();
}
Task side_release_task(0, TASK_ONCE, &side_release);
// ring_side. - act type #2 (set angle==move)
extern Task ring_side_move_task;
int side_set_angle = 50;
void ring_side_move() {
//
Serial.print("ring_side_move go -> ");
Serial.print(side_set_angle);
Serial.println(" deg.");
//
side.attach(D6);
side.write(side_set_angle);
side_release_task.restartDelayed(100);
}
Task ring_side_move_task(0, TASK_ONCE, &ring_side_move);
// ring_head.
static Servo head; static Servo head;
extern Task head_release_task; extern Task head_release_task;
void ring_head() { void ring_head() {
@ -315,6 +324,7 @@ void receivedCallback(uint32_t from, String & msg) { // REQUIRED
if (str_ext == "X") { if (str_ext == "X") {
side_start_angle = str_x1.toInt(); // ? ~ ? side_start_angle = str_x1.toInt(); // ? ~ ?
side_hit_angle = str_x2.toInt(); // ? ~ ? side_hit_angle = str_x2.toInt(); // ? ~ ?
side_set_angle = str_x3.toInt(); // ? ~ ?
} }
//is it for me, the gastank? //is it for me, the gastank?
@ -324,6 +334,9 @@ void receivedCallback(uint32_t from, String & msg) { // REQUIRED
if (key == GASTANK_HEAD_KEY && gate == 1) { if (key == GASTANK_HEAD_KEY && gate == 1) {
ring_head_task.restartDelayed(10); ring_head_task.restartDelayed(10);
} }
if (key == GASTANK_SIDE_MOVE_KEY && gate == 1) {
ring_side_move_task.restartDelayed(10);
}
} }
void changedConnectionCallback() { void changedConnectionCallback() {
Serial.println(mesh.getNodeList().size()); Serial.println(mesh.getNodeList().size());
@ -435,6 +448,7 @@ void setup() {
//tasks //tasks
runner.addTask(ring_side_task); runner.addTask(ring_side_task);
runner.addTask(ring_side_move_task);
runner.addTask(side_release_task); runner.addTask(side_release_task);
// //
runner.addTask(ring_head_task); runner.addTask(ring_head_task);