CPAL Playground

/* Copyright (C) 2015, RealTime-at-Work, All Rights Reserved
 *
 * You may use, copy, reproduce, and distribute this sample cource code for any non-commercial purpose.
 * Some purposes which can be non-commercial are teaching, academic research,
 * public demonstrations and personal experimentation. You may also distribute this Software
 * with books or other teaching materials, or publish the Software on websites,
 * that are intended to teaching for academic or other non-commercial purposes.
 *
 * In return, we simply require that you agree: 
 * 1. That you will not remove any copyright or other notices from the Software.
 * 2. THAT THE SOFTWARE COMES "AS IS", WITH NO WARRANTIES. THIS MEANS NO EXPRESS, 
 *    IMPLIED OR STATUTORY WARRANTY.
 */ 
/**
 * 
 * See https://www.youtube.com/watch?v=SZLGn2FEUko
 *
 * @keywords pwm; servotester
 */

processdef Servo_Tester(
  in bool: change_mode_cmd,
  in uint16: manual_position,
  out int32: position)
{

state Manual {
	position = int32.as(manual_position) + int32.FIRST;
  }
  on (change_mode_cmd) to Neutral;
  
  state Neutral {
    position = 0;
  }
  on (change_mode_cmd) to Auto_Min;
  
  state Auto_Min {
    position = int32.FIRST;
  }
  on (change_mode_cmd) to Manual;
  after (1s) to Auto_Max;
  
  state Auto_Max {
    position = int32.LAST;
  }
  on (change_mode_cmd) to Manual;
  after (1s) to Auto_Min;
}

var bool: pin_gpio_c10_in;
var uint16: pin_adc16_0_1;
var int32: pwm_c_0_0;

process Servo_Tester: main_task[100ms](pin_gpio_c10_in, pin_adc16_0_1, pwm_c_0_0);

for ms or try the desktop editor with advanced diagram views

Simulation
Tasks diagram


Quiet mode disabled
[0.000000000000:ASSIGN] Assign cpal_system new value: Scheduling_Policy.FIFO
[0.000000000000:servotester:STARTING_TASK] 'main_task'
[0.000000000000:STATE] process "Servo_Tester", instance "main_task", state "Manual"
[0.000000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[0.000000000000:servotester:TASK_FINISHED] 'main_task'
[0.100000000000:servotester:STARTING_TASK] 'main_task'
[0.100000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[0.100000000000:servotester:TASK_FINISHED] 'main_task'
[0.200000000000:servotester:STARTING_TASK] 'main_task'
[0.200000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[0.200000000000:servotester:TASK_FINISHED] 'main_task'
[0.300000000000:servotester:STARTING_TASK] 'main_task'
[0.300000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[0.300000000000:servotester:TASK_FINISHED] 'main_task'
[0.400000000000:servotester:STARTING_TASK] 'main_task'
[0.400000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[0.400000000000:servotester:TASK_FINISHED] 'main_task'
[0.500000000000:servotester:STARTING_TASK] 'main_task'
[0.500000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[0.500000000000:servotester:TASK_FINISHED] 'main_task'
[0.600000000000:servotester:STARTING_TASK] 'main_task'
[0.600000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[0.600000000000:servotester:TASK_FINISHED] 'main_task'
[0.700000000000:servotester:STARTING_TASK] 'main_task'
[0.700000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[0.700000000000:servotester:TASK_FINISHED] 'main_task'
[0.800000000000:servotester:STARTING_TASK] 'main_task'
[0.800000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[0.800000000000:servotester:TASK_FINISHED] 'main_task'
[0.900000000000:servotester:STARTING_TASK] 'main_task'
[0.900000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[0.900000000000:servotester:TASK_FINISHED] 'main_task'
[1.000000000000:servotester:STARTING_TASK] 'main_task'
[1.000000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[1.000000000000:servotester:TASK_FINISHED] 'main_task'
[1.100000000000:servotester:STARTING_TASK] 'main_task'
[1.100000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[1.100000000000:servotester:TASK_FINISHED] 'main_task'
[1.200000000000:servotester:STARTING_TASK] 'main_task'
[1.200000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[1.200000000000:servotester:TASK_FINISHED] 'main_task'
[1.300000000000:servotester:STARTING_TASK] 'main_task'
[1.300000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[1.300000000000:servotester:TASK_FINISHED] 'main_task'
[1.400000000000:servotester:STARTING_TASK] 'main_task'
[1.400000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[1.400000000000:servotester:TASK_FINISHED] 'main_task'
[1.500000000000:servotester:STARTING_TASK] 'main_task'
[1.500000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[1.500000000000:servotester:TASK_FINISHED] 'main_task'
[1.600000000000:servotester:STARTING_TASK] 'main_task'
[1.600000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[1.600000000000:servotester:TASK_FINISHED] 'main_task'
[1.700000000000:servotester:STARTING_TASK] 'main_task'
[1.700000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[1.700000000000:servotester:TASK_FINISHED] 'main_task'
[1.800000000000:servotester:STARTING_TASK] 'main_task'
[1.800000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[1.800000000000:servotester:TASK_FINISHED] 'main_task'
[1.900000000000:servotester:STARTING_TASK] 'main_task'
[1.900000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[1.900000000000:servotester:TASK_FINISHED] 'main_task'
[2.000000000000:servotester:STARTING_TASK] 'main_task'
[2.000000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[2.000000000000:servotester:TASK_FINISHED] 'main_task'
[2.100000000000:servotester:STARTING_TASK] 'main_task'
[2.100000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[2.100000000000:servotester:TASK_FINISHED] 'main_task'
[2.200000000000:servotester:STARTING_TASK] 'main_task'
[2.200000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[2.200000000000:servotester:TASK_FINISHED] 'main_task'
[2.300000000000:servotester:STARTING_TASK] 'main_task'
[2.300000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[2.300000000000:servotester:TASK_FINISHED] 'main_task'
[2.400000000000:servotester:STARTING_TASK] 'main_task'
[2.400000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[2.400000000000:servotester:TASK_FINISHED] 'main_task'
[2.500000000000:servotester:STARTING_TASK] 'main_task'
[2.500000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[2.500000000000:servotester:TASK_FINISHED] 'main_task'
[2.600000000000:servotester:STARTING_TASK] 'main_task'
[2.600000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[2.600000000000:servotester:TASK_FINISHED] 'main_task'
[2.700000000000:servotester:STARTING_TASK] 'main_task'
[2.700000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[2.700000000000:servotester:TASK_FINISHED] 'main_task'
[2.800000000000:servotester:STARTING_TASK] 'main_task'
[2.800000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[2.800000000000:servotester:TASK_FINISHED] 'main_task'
[2.900000000000:servotester:STARTING_TASK] 'main_task'
[2.900000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[2.900000000000:servotester:TASK_FINISHED] 'main_task'
[3.000000000000:servotester:STARTING_TASK] 'main_task'
[3.000000000000:ASSIGN] Assign pwm_c_0_0 new value: -2147483648
[3.000000000000:servotester:TASK_FINISHED] 'main_task'
EXIT (SUCCESS) AT 3s (3000000000000)

PID	start	end	name	state
0	0	0	main_task	Manual
0	100000000000	100000000000	main_task	Manual
0	200000000000	200000000000	main_task	Manual
0	300000000000	300000000000	main_task	Manual
0	400000000000	400000000000	main_task	Manual
0	500000000000	500000000000	main_task	Manual
0	600000000000	600000000000	main_task	Manual
0	700000000000	700000000000	main_task	Manual
0	800000000000	800000000000	main_task	Manual
0	900000000000	900000000000	main_task	Manual
0	1000000000000	1000000000000	main_task	Manual
0	1100000000000	1100000000000	main_task	Manual
0	1200000000000	1200000000000	main_task	Manual
0	1300000000000	1300000000000	main_task	Manual
0	1400000000000	1400000000000	main_task	Manual
0	1500000000000	1500000000000	main_task	Manual
0	1600000000000	1600000000000	main_task	Manual
0	1700000000000	1700000000000	main_task	Manual
0	1800000000000	1800000000000	main_task	Manual
0	1900000000000	1900000000000	main_task	Manual
0	2000000000000	2000000000000	main_task	Manual
0	2100000000000	2100000000000	main_task	Manual
0	2200000000000	2200000000000	main_task	Manual
0	2300000000000	2300000000000	main_task	Manual
0	2400000000000	2400000000000	main_task	Manual
0	2500000000000	2500000000000	main_task	Manual
0	2600000000000	2600000000000	main_task	Manual
0	2700000000000	2700000000000	main_task	Manual
0	2800000000000	2800000000000	main_task	Manual
0	2900000000000	2900000000000	main_task	Manual
0	3000000000000	3000000000000	main_task	Manual