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#include "kernel/kern.h"
#include "modules/cabs.h"
#include "tmwtypes.h"
#include "rtw.h"
extern CAB output_cid
[NOUTPUTCAB
];
TASK ACTUATOR_body
(void *output_port
) {
real_T
*p
, value
;
int out
= (int)(output_port
);
if (out
>= NOUTPUTCAB
) return NULL
;
while(1) {
/* Get CAB message */
p
= (real_T
*)cab_getmes
(output_cid
[out
]);
/* Set value */
value
= *p
;
/* Release CAB message */
cab_unget
(output_cid
[out
], p
);
cprintf
("Value = %lf\n",value
);
task_endcycle
();
}
return NULL
;
}
void activate_actuators
() {
HARD_TASK_MODEL ACTUATOR_task
;
PID ACTUATOR_pid
;
hard_task_default_model
(ACTUATOR_task
);
hard_task_def_mit
(ACTUATOR_task
,20000);
hard_task_def_wcet
(ACTUATOR_task
,4000);
/* Set actuator port number */
hard_task_def_arg
(ACTUATOR_task
,(void *)(0));
hard_task_def_usemath
(ACTUATOR_task
);
hard_task_def_ctrl_jet
(ACTUATOR_task
);
ACTUATOR_pid
= task_create
("ACTUATOR0",ACTUATOR_body
,&ACTUATOR_task
,NULL
);
if (ACTUATOR_pid
== NIL
) {
cprintf
("Error: Cannot create RealTime Workshop [ACTUATOR0] Task\n");
exit(1);
}
task_activate
(ACTUATOR_pid
);
}