Rune Harlyk
27 lines
616 B
C++
27 lines
616 B
C++
#include <spot.h>
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#include <PsychicHttpServer.h>
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DRAM_ATTR PsychicHttpServer server;
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DRAM_ATTR Spot spot(&server);
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void IRAM_ATTR SpotControlLoopEntry(void*) {
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TickType_t xLastWakeTime = xTaskGetTickCount();
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for (;;) {
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spot.readSensors();
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spot.planMotion();
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spot.updateActuators();
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spot.emitTelemetry();
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vTaskDelayUntil(&xLastWakeTime, 10 / portTICK_PERIOD_MS);
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}
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}
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void setup() {
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Serial.begin(115200);
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spot.initialize();
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g_taskManager.createTask(SpotControlLoopEntry, "Spot control task", 4096, nullptr, 3);
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}
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void loop() { vTaskDelete(NULL); } |