44 lines
763 B
C++
44 lines
763 B
C++
#pragma once
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#include "pinConfig.hpp"
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#include "FreeRTOS.h"
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#include "queue.h"
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#include "semphr.h"
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enum STONE_STATE {
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EMPTY = 0b00, FULL = 0b10, LOW = 0b01
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};
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void vHeadTaskFn(void *pvParameters);
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class HeadSystem {
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private:
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unsigned int motor_chopper1_slice_num;
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unsigned int motor_chopper2_slice_num;
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unsigned int motor_z_axis_slice_num;
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bool headUp = false;
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STONE_STATE stoneState;
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xQueueHandle headStateQueue;
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xSemaphoreHandle headSateSemaphore;
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xTaskHandle headTaskHandle;
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public:
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HeadSystem();
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void initPins();
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void setChopper(bool open1, bool open2);
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void setHeadUp(bool up);
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bool preLoad();
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STONE_STATE dropStone();
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STONE_STATE dropSequence();
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void vHeadTask();
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};
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