Queue

A motion queue with program counter, used by Motion and Odometry. More...

Functions
	motor ()
	motion_add (integer Qid, integer Qtime, integer QspL, integer QspR)
	Subroutine to add a task to the queue. More...
	motion_cancel (integer Qid)
	Subroutine to cancel a task from the queue. More...

Variables
integer[QUEUE]	Qid = { 0,0,0,0 }
	[out] task id
integer[QUEUE]	Qtime = { 0,0,0,0 }
	[out] remaining time
integer[QUEUE]	QspL = { 0,0,0,0 }
	[out] motor speed L
integer[QUEUE]	QspR = { 0,0,0,0 }
	[out] motor speed R
integer[1]	Qpc = {0}
	[out] program counter
integer[1]	Qnx = {0}
	[out] next pc

Detailed Description

A motion queue with program counter, used by Motion and Odometry.

Every 100 Hz tick from motion event, run the motion queue and update the odometry. If the motion task at Qpc is active, turn the motors at the speeds QspL and QspR and decrement the Qtime count. Otherwise, look for a next task to perform. The active task is the Qid entry whose value is negative. The button LEDs show the values of Qpc qnd Qnx. The subroutines motion_add and motion cancel are called from the Q_* events in Motion.

Function Documentation

motion_add ( integer  Qid, integer  Qtime, integer  QspL, integer  QspR  )

inlineprivate

Subroutine to add a task to the queue.

Parameters

Qid	task id
Qtime	time in 100ths
QspL	left motor speed
QspR	right motor speed

motion_cancel ( integer  Qid )

inlineprivate

Subroutine to cancel a task from the queue.

Parameters

Qid

task id