| |
Hi again, I'm now totally stuck with this problem. I've spent all day at it,
stepping through the
code line by line with key presses. I've marked the point that the code
appears to hang in
left_control_task (). Someone please help, please.
Thanks
Mike
> int bumper_task • (int argc, char *argv[])
> {
> long int
> random_delay;
>
> while (1)
> {
> // • wait for bumper to be hit (and released to
> debounce)
> wait_event (&bumper_hit, • 0);
> msleep (250);
> wait_event
> (&bumper_release, 0);
> // hit an object so • kill all other threads and stop
> kill
> (left_thread);
> kill • (right_thread);
> kill (speed_thread);
> stop_motors
> ();
>
> // back • up
> motor_a_speed (200);
> motor_b_speed • (200);
> motor_c_speed
> (200);
> motor_a_dir (rev);
> motor_b_dir • (rev);
> motor_c_dir (rev);
> msleep
> (500);
>
> // turn a random • amount
> motor_a_dir (fwd);
> random_delay • =
> random()/1000000;
> msleep(random_delay);
> stop_motors ();
>
> // • restart
> threads and motors
>
> ******** SEEMS TO BE THE NEXT 2 LINES THAT HANG • IT
> ********
>
> left_thread = execi (&left_control_task, 0, 0, • 3,
> DEFAULT_STACK_SIZE);
> right_thread = execi (&right_control_task, 0, 0, • 3,
> DEFAULT_STACK_SIZE);
> speed_thread = execi (&speed_target_task, 0, 0, • 1,
> DEFAULT_STACK_SIZE);
> start_motors_full ();
> }
>
> return 0;
> } // end • of
> bumper_task ()
>
> int left_control_task (int argc, char *argv[])
> {
> // dummy • code to keep
> it simple till main structure correct
> int count =
0;
********************* GETS THIS FAR STEPPING THROUGH ************
> for (count = • 255; count > 100; count--
> )
> {
> motor_a_speed (count);
> lcd_int • (count);
> msleep
> (100);
> }
> stop_motors ();
>
>
>
> return 0;
> } // • end of left_control_task ()
>
|
|
Message has 2 Replies:
 | | Re: threads
|
| some suggestions: 1) random_delay = random()/1000000; LegOS uses 16 bit integers, meaning the largest value an integer can have is something like 65535. The above statement is meaningless 2) (...) If you kill a thread, make sure it's still a valid (...) (23 years ago, 15-Jan-02, to lugnet.robotics.rcx.legos)
| | | Re: threads - bug in the firmware?
|
| Hi again I have now totally stripped down my code to a minimum and I am still having problems with the code hanging up. I can see nowhere where there can be a fault. I am a long way from being an expert, but is it possible there is a bug in the (...) (23 years ago, 16-Jan-02, to lugnet.robotics.rcx.legos)
|
Message is in Reply To:
| | threads
|
| Hi, I'm struggling to get threads working (in a simple motor speed matching program), the code just keeps hanging up. I've isolated the problem to when I restart the threads after killing them if a bumper is hit in the bumper_task() function. The (...) (23 years ago, 14-Jan-02, to lugnet.robotics.rcx.legos)
|
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