//Pico_Analog_02_Multitasking.ino
uint32_t previousTime0 = 0;
uint32_t previousTime1 = 0;
uint32_t previousTime2 = 0;
uint32_t previousTime3 = 0;

uint32_t currentTime = 0;
uint32_t time_task0 = 100;
uint32_t time_task1 = 100;
uint32_t time_task2 = 100;
uint32_t time_task3 = 1000;

float vQ0; //Q = Discrete value, Quantization number
float n;
float vQ1; //Q = Discrete value, Quantization number
float T;
int AnalogResolution = 12; //1...12
bool state;
bool state_SW =1;
int SW0 = 22;

void setup() {
  Serial1.begin(115200);
  Serial1.println("...START...");
  Serial1.println("");
  analogReadResolution(AnalogResolution); //Set Resolution
  pinMode(LED_BUILTIN, OUTPUT);
  pinMode(SW0, INPUT_PULLUP);
}

void loop() {
  currentTime = millis();
  
  // Task0
  if(currentTime - previousTime0 >= time_task0){ 
    previousTime0 = currentTime;
    state_SW = digitalRead(SW0);

  }

  // Task1 : Analog Read
  if(currentTime - previousTime1 >= time_task1){ 
    previousTime1 = currentTime;
    if(state_SW==0){
      vQ0 = analogRead(A0); //A0 @GPIO26, A1, A2
      vQ1 = analogRead(A1);
    }
  }

   // Task2 : Display
   if(currentTime - previousTime2 >= time_task2){ 
     previousTime2 = currentTime;
     if(state_SW==0){
    Serial1.print("vQ0 = ");
    Serial1.print(vQ0,0);
    n = (vQ0/4096)*1000; 
    //3.3 <==> 1000 rpm
    Serial1.print(" => n = ");
    Serial1.print(n);
    Serial1.println(" rpm"); 

    Serial1.print("vQ1 = ");
    Serial1.print(vQ1,0);
    T = (vQ1/4096)*50; 
    //3.3 <==> 50 Nm
    Serial1.print(" => T = ");
    Serial1.print(T);
    Serial1.println(" Nm"); 
    }
   }

  // Task3 : 
  if(currentTime - previousTime3 >= time_task3){ 
    previousTime3 = currentTime;
    digitalWrite(LED_BUILTIN,state);
    state = !state;
  }
}