Skip to content

add light test, update score functions for random wait tasks #38

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
peterso merged 1 commit into from
May 7, 2025
Merged

add light test, update score functions for random wait tasks #38

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
19 changes: 18 additions & 1 deletion idf/taskboard/main/hal/board/TaskBoardDriver_TBv2025.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -349,20 +349,32 @@ struct TaskBoardDriver_v1 :

std::vector<const TaskStepBase*>* main_steps = new std::vector<const TaskStepBase*>
{
// TASK 1 Find Task Board
new TaskStepActuator(*blue_button_led, Actuator::State::LED_ON),
new TaskStepEqual(*get_sensor_by_name("BLUE_BUTTON_LEFT"), SensorMeasurement(true)),
// TASK 2 Speed Test
new TaskStepActuator(*blue_button_led, Actuator::State::OFF),
new TaskStepEqual(*get_sensor_by_name("BLUE_BUTTON_LEFT"), SensorMeasurement(false)),
new TaskStepActuator(*red_button_led, Actuator::State::LED_ON),
new TaskStepEqual(*get_sensor_by_name("RED_BUTTON_RIGHT"), SensorMeasurement(true)),
new TaskStepActuator(*red_button_led, Actuator::State::OFF),
// TASK 2.5 Light Test
new TaskStepWaitRandom("LIGHT_TEST_RAND_WAIT", 2000L, 5000L),
// new TaskStepEqualDuringRandom(*get_sensor_by_name("RED_BUTTON_RIGHT"), SensorMeasurement(false), 0.0, 1000L, 4000L),
new TaskStepActuator(*red_button_led, Actuator::State::LED_ON),
new TaskStepEqual(*get_sensor_by_name("RED_BUTTON_RIGHT"), SensorMeasurement(true)),
new TaskStepActuator(*red_button_led, Actuator::State::OFF),
// TASK 3 Screen Test
new TaskStepActuator(*goal_4_led, Actuator::State::LED_ON),
new TaskStepEqual(*get_sensor_by_name("STYLUS_ON_STAND"), SensorMeasurement(false)),
new TaskStepActuator(*goal_4_led, Actuator::State::OFF),
new TaskStepTraceShapeFromPool(*get_sensor_by_name("TOUCH_SCREEN"), shape_pool),
new TaskStepTraceShapeFromPool(*get_sensor_by_name("TOUCH_SCREEN"), shape_pool),
new TaskStepTraceShapeFromPool(*get_sensor_by_name("TOUCH_SCREEN"), shape_pool),
new TaskStepTouchGoalFromPool(*get_sensor_by_name("TOUCH_SCREEN"), touch_goal_pool), // PS: task needs to be fixed touches aren't registered
new TaskStepTouchGoalFromPool(*get_sensor_by_name("TOUCH_SCREEN"), touch_goal_pool),
new TaskStepTouchGoalFromPool(*get_sensor_by_name("TOUCH_SCREEN"), touch_goal_pool),
new TaskStepTouchGoalFromPool(*get_sensor_by_name("TOUCH_SCREEN"), touch_goal_pool),
// Task 4 Ball Drop
new TaskStepActuator(*goal_2_led, Actuator::State::LED_ON),
new TaskStepEqual(*get_sensor_by_name("BALL_GOAL_2"), SensorMeasurement(true)),
new TaskStepActuator(*goal_2_led, Actuator::State::OFF),
Expand All @@ -374,13 +386,18 @@ struct TaskBoardDriver_v1 :
// do something here to assess if the ball has reached goal 1, maybe wait a fixed amount of time and return success if goal 1 is not made
new TaskStepActuator(*goal_1_led, Actuator::State::LED_ON),
new TaskStepEqual(*get_sensor_by_name("BALL_GOAL_1"), SensorMeasurement(true)),
// TASK 5 Marble Maze
new TaskStepActuator(*goal_1_led, Actuator::State::OFF),
new TaskStepActuator(*goal_2_led, Actuator::State::LED_ON),
new TaskStepEqual(*get_sensor_by_name("BALL_GOAL_2"), SensorMeasurement(true)),
new TaskStepActuator(*goal_2_led, Actuator::State::OFF),
new TaskStepActuator(*goal_3_led, Actuator::State::LED_ON),
new TaskStepEqual(*get_sensor_by_name("BALL_GOAL_3"), SensorMeasurement(true)),
new TaskStepActuator(*goal_3_led, Actuator::State::OFF),
new TaskStepActuator(*goal_1_led, Actuator::State::LED_ON),
new TaskStepEqual(*get_sensor_by_name("BALL_GOAL_1"), SensorMeasurement(true)),
new TaskStepActuator(*goal_1_led, Actuator::State::OFF),
// TASK 6 Return Stylus to Stand to End Test
new TaskStepActuator(*goal_4_led, Actuator::State::LED_ON),
new TaskStepEqual(*get_sensor_by_name("STYLUS_ON_STAND"), SensorMeasurement(true)),
new TaskStepActuator(*goal_4_led, Actuator::State::OFF),
Expand Down
2 changes: 1 addition & 1 deletion idf/taskboard/main/task/TaskStepEqualDuringRandom.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -65,7 +65,7 @@ struct TaskStepEqualDuringRandom :
/// Virtual method implementation
float score() const override
{
return -1.0f;
return 100.0f;
}

/// Virtual method implementation
Expand Down
2 changes: 1 addition & 1 deletion idf/taskboard/main/task/TaskStepWaitRandom.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@ struct TaskStepWaitRandom :
/// Virtual method implementation
float score() const override
{
return -1.0f;
return 100.0f;
}

/// Virtual method implementation
Expand Down