Freenove ESP32 - Page 148

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Chapter 15 Dog
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case ACTION_BODY_HEIGHT:
case ACTION_MOVE_ANY:
case ACTION_TWIST:
case ACTION_DANCING:
mqMotion.enterForced(msg);
controlTask(TASK_MOTION_SERVICE, TASK_RESUME);
break;
default:
mqInfo.enterForced(msg);
break;
}
}
Message queue. Each time instructions are received, they will be stored in a queue and waiting for the
main thread to parse and execute it one by one.
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DataQueue<String> mqMotion(2); // Motion message queue, When there are too many messages, some
messages can be ignored to reduce latency.
DataQueue<String> mqInfo(100); // Info message queue, Important, can not ignore.
Initialize the robot dog's drivers.
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Serial.begin(115200);
Serial.println("\n\nProgram begin ... ");
bleSetup();
prefs.begin(NMSPC_STORAGE);
pca.begin();
pca.releaseAllServo();
getServoOffsetFromStorage();
getLedConfigFromStorage();
cs.begin();
setupAdc();
setupBuzzer();
setupSonar();
setupRGBLED();
setupBuiltInLed();
setupTouchPad();
Serial.println("setup finished!\n\n");
Receive commands by Serial.
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void serialEventRun() {
static String serialInputString = "";
while (Serial.available()) {
char inChar = (char)Serial.read();
serialInputString += inChar;
if (inChar == '\n') {
enterMessageQueue(serialInputString);
serialInputString = "";
}