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modeSelect.c
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modeSelect.c
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#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <math.h>
#include <selector.h>
#include <motors.h>
#include <leds.h>
#include "modeSelect.h"
#include "leds.h"
static THD_WORKING_AREA(waThdSelectMode, 256);
static THD_FUNCTION(ThdSelectMode, arg) {
chRegSetThreadName(__FUNCTION__);
(void)arg;
while(1){
int valueSelector = get_selector();
switch (valueSelector)
{
case 0:
clear_leds();
motors_init();
right_motor_set_pos(500);
left_motor_set_pos(500);
break;
case 1:
clear_leds();
set_body_led(1);
break;
case 2:
set_front_led(1);
break;
case 3:
clear_leds();
set_front_led(1);
set_body_led(1);
break;
default:
clear_leds();
break;
}
chThdSleepMilliseconds(375);
}
}
void selectionMode(void)
{
chThdCreateStatic(waThdSelectMode, sizeof(waThdSelectMode), NORMALPRIO, ThdSelectMode, NULL);
}