#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include <freertos/queue.h>
QueueHandle_t queue;
struct js{float a;unsigned long t;};
void rj(void *parameter){
js data;
while (true){
  int ver=analogRead(26);
  data.a=map(ver,0,4095,-10,10);
  data.t=millis();
  xQueueSend(queue,&data,pdMS_TO_TICKS(1000));
  vTaskDelay(pdMS_TO_TICKS(100));
}
}

void pj(void *parameter){
  js data1;
  float velocity=0;
  float time=0.0;
  while(true){
    if(xQueueReceive(queue,&data1,pdMS_TO_TICKS(100))){
      time=data1.t/1000-time;
      velocity+=data1.a*time;
      Serial.println("time");
      Serial.println(data1.t/1000);
      Serial.println("vel");
      Serial.println(velocity);

   }}
}

void setup() {
  pinMode(13,OUTPUT);
  pinMode(26, INPUT);
  pinMode(27,INPUT);
  digitalWrite(13,HIGH);

  Serial.begin(9600);
  queue=xQueueCreate(10,sizeof(js));
  xTaskCreatePinnedToCore(rj,"read",2048,NULL,1,NULL,0);
  xTaskCreatePinnedToCore(pj,"process",2048,NULL,1,NULL,1);

 
}

void loop() {
  
}