Finished Head Softaware

stone-dispencer-control/firmware-stone-dispencer/src/main.cpp

@@ -0,0 +1,45 @@
+#include <stdio.h>
+#include "pico/stdlib.h"
+
+#include "FreeRTOSConfig.h"
+#include "FreeRTOS.h"
+#include "task.h"
+#include "hardware/pwm.h"
+
+#include "headSystem.hpp"
+
+void vMainTask(void *pvParameters) {
+    HeadSystem * headSystem = (HeadSystem *) pvParameters;
+    bool buttonState = false;
+    bool buttonLastState = false;
+
+    headSystem->setHeadUp(true);
+    
+    while (1) {
+        buttonState = !gpio_get(BUTTON_PIN);
+
+        if(buttonState) {
+            STONE_STATE s = headSystem->dropSequence();
+            printf("Stone dropped: %d\n", s);
+        }
+
+        buttonLastState = buttonState;
+        vTaskDelay(pdMS_TO_TICKS(100));
+    }
+}
+
+int main()
+{
+    stdio_init_all();
+
+    HeadSystem headSystem;
+    printf("HeadSystem initialized\n");
+
+    xTaskCreate(vMainTask, "Button Task", 1024, &headSystem, 1, NULL);
+    vTaskStartScheduler();
+
+    while (1) {
+        tight_loop_contents();
+    }
+    
+}