def main():
# Create the tasks. If trace is enabled for any task, memory will be
# allocated for state transition tracing, and the application will run out
# of memory after a while and quit. Therefore, use tracing only for
# debugging and set trace to False when it's not needed
motor_task = cotask.Task(task_motor,
name='motor_task',
priority=1,
period=1,
profile=True,
trace=False)
# front_sensor_task = cotask.Task (task_front_sensor, name = 'front_sensor_task', priority = 2,
# period = 25, profile = True, trace = False)
#back_sensor_task = cotask.Task (task_back_sensor, name = 'back_sensor_task', priority = 3,
# period = 25, profile = True, trace = False)
#right_sensor_task = cotask.Task (task_right_sensor, name = 'right_sensor_task', priority = 4,
# period = 25, profile = True, trace = False)
#left_sensor_task = cotask.Task (task_left_sensor, name = 'left_sensor_task', priority = 5,
# period = 25, profile = True, trace = False)
#bluetooth_task = cotask.Task (task_bluetooth, name = 'bluetooth_task', priority = 6,
# period = 25, profile = True, trace = False)
cotask.task_list.append(motor_task)
# cotask.task_list.append (front_sensor_task)
#cotask.task_list.append (back_sensor_task)
#cotask.task_list.append (right_sensor_task)
#cotask.task_list.append (left_sensor_task)
#cotask.task_list.append (bluetooth_task)
# A task which prints characters from a queue has automatically been
# created in print_task.py; it is accessed by print_task.put_bytes()
# Run the memory garbage collector to ensure memory is as defragmented as
# possible before the real-time scheduler is started
gc.collect()
# Run the scheduler with the chosen scheduling algorithm. Quit if any
# character is sent through the serial por
vcp = pyb.USB_VCP()
while not vcp.any():
cotask.task_list.pri_sched()
# Empty the comm port buffer of the character(s) just pressed
vcp.read()
# Print a table of task data and a table of shared information data
print('\n' + str(cotask.task_list) + '\n')
print(task_share.show_all())
# print (control_task.get_trace ())
print('\r\n')
''' aye = pyb.I2C(1, pyb.I2C.MASTER)
#cotask.task_list.append (task1)
#cotask.task_list.append (task2)
cotask.task_list.append(span_motor_task)
cotask.task_list.append(tilt_motor_task)
cotask.task_list.append(interface_task)
#cotask.task_list.append (dart_motor_task)
cotask.task_list.append(trigger_task)
cotask.task_list.append(imu_task)
cotask.task_list.append(calculator_task)
# A task which prints characters from a queue has automatically been
# created in print_task.py; it is accessed by print_task.put_bytes()
# Run the memory garbage collector to ensure memory is as defragmented as
# possible before the real-time scheduler is started
gc.collect()
# Run the scheduler with the chosen scheduling algorithm.
run_RTOS.put(1)
while run_RTOS.get():
cotask.task_list.pri_sched()
vcp.read()
# Print a table of task data and a table of shared information data
print('\n' + str(cotask.task_list) + '\n')
print(task_share.show_all())
print(task1.get_trace())
print(imu_task.get_trace())
print('\r\n')
def print_diagnostics():
# Print a table of task data and a table of shared information data
print('\n' + str(cotask.task_list) + '\n')
print(task_share.show_all())
print(task1.get_trace())
print('\r\n')
