M64Example.ino

/**
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   THE PRODUCT.
   <p/>
   IN PARTICULAR, YOU WILL INDEMNIFY AND HOLD ITS AUTHOR, ITS
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   DERIVED FROM THIS SOURCE CODE FILE.
*/

////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
// Random Motor

// Motor power change operations Queue example
// The idea is that we want smooth change e.g. whee we want from 0% to go to 100% we want first 10% next 20% next 30% etc. until we get to 100% 
// The M64Q class takes care about this smoothing and take care about merging operations in case druring smoothing a new power settings has been requested
// Just PUSH the power requests and POP and send to the motor - the class will deal with the rest

#include "Thread64.h"
#include "Motor64Q.h"

M64Q m64q; // M64Q m64q(5); // for configurable motor step 5% - default is 10%

////////////////////////////////////////////////////////////////////////////////
//foreground generate random motor power between -100 and 100 every 1 sec
int32_t motor_power_lastExecute;
// 1 sec in 10's of millis
#define motor_power_timeout  (200L)

void motor_power()
{
  if (!T64_DO_EXECUTE(T64_TIMER_GET(), motor_power_lastExecute, motor_power_timeout))
  {
    return;
  }
  motor_power_lastExecute = T64_TIMER_GET();

  // set random motor power
  int8_t tmp_power_percent = random(201) - 100;

  Serial.println("New power requested(" + String(tmp_power_percent) + "%)");
  
  // send new power to motor
  m64q.M64Q_PUSH(tmp_power_percent);
  
}

////////////////////////////////////////////////////////////////////////////////
//foreground motor - sending directly to the actual H-Bridge every 100 millis
int32_t motor_lastExecute;
// 100 millis in 10's of millis
#define motor_timeout  (10L)

void motor()
{
  if (!T64_DO_EXECUTE(T64_TIMER_GET(), motor_lastExecute, motor_timeout))
  {
    return;
  }
  motor_lastExecute = T64_TIMER_GET();

  int8_t tmp_power_percent;

  if (m64q.M64Q_POP(tmp_power_percent))
  {
    Serial.println("Motor[" + String(tmp_power_percent) + "%]");
  }
}

void setup()
{

  Serial.begin(115200);
  for (; !Serial;) {};

  Serial.println("M64 TEST");

  T64_INIT();
}



void loop()
{
  motor_power();

  motor();

  delay(1);

}