| 38,7 → 38,7 |
|---|
| void activate_sensors() { |
| |
| HARD_TASK_MODEL SENSOR_task; |
| PID DISTANCE_pid,ANGLE_pid,CURVE_pid; |
| PID DISTANCE_pid,ANGLE_pid,CURVE_pid,WR_pid,WL_pid; |
| |
| hard_task_default_model(SENSOR_task); |
| hard_task_def_mit(SENSOR_task,60000); |
| 66,10 → 66,26 |
|---|
| cprintf("Error: Cannot create RealTime Workshop [CURVE] Task\n"); |
| sys_end(); |
| } |
| |
| hard_task_def_arg(SENSOR_task,(void *)(3)); |
| WR_pid = task_create("WR",SENSOR_body,&SENSOR_task,NULL); |
| if (WR_pid == NIL) { |
| cprintf("Error: Cannot create RealTime Workshop [WR] Task\n"); |
| sys_end(); |
| } |
| |
| hard_task_def_arg(SENSOR_task,(void *)(4)); |
| WL_pid = task_create("CURVE",SENSOR_body,&SENSOR_task,NULL); |
| if (WR_pid == NIL) { |
| cprintf("Error: Cannot create RealTime Workshop [WL] Task\n"); |
| sys_end(); |
| } |
| |
| task_activate(DISTANCE_pid); |
| task_activate(ANGLE_pid); |
| task_activate(CURVE_pid); |
| task_activate(WR_pid); |
| task_activate(WL_pid); |
| |
| } |
| |