Revision 1205
Implemented single encoder testing
Cleaned up motor direction/wall direction naming
| comm_robot.c | ||
|---|---|---|
| 8 | 8 |
char finished = 0; |
| 9 | 9 |
char data_received[10]; |
| 10 | 10 |
|
| 11 |
char *motor_direction_string (uint8_t direction) |
|
| 12 |
{
|
|
| 13 |
if (direction==motor_direction_forward) |
|
| 14 |
return "forward"; |
|
| 15 |
else if (direction==motor_direction_backward) |
|
| 16 |
return "backward"; |
|
| 17 |
else if (direction==motor_direction_off) |
|
| 18 |
return "off"; |
|
| 19 |
else |
|
| 20 |
return "?"; |
|
| 21 |
} |
|
| 22 |
|
|
| 23 |
|
|
| 11 | 24 |
static uint8_t motor_direction (uint8_t direction) |
| 12 | 25 |
{
|
| 13 |
if (direction==direction_backward) |
|
| 26 |
if (direction==motor_direction_backward)
|
|
| 14 | 27 |
return BACKWARD; |
| 15 | 28 |
else |
| 16 | 29 |
return FORWARD; |
| ... | ... | |
| 18 | 31 |
|
| 19 | 32 |
static uint8_t motor_velocity (uint8_t direction, uint8_t velocity) |
| 20 | 33 |
{
|
| 21 |
if (direction==direction_off) |
|
| 34 |
if (direction==motor_direction_off)
|
|
| 22 | 35 |
return 0; |
| 23 | 36 |
else |
| 24 | 37 |
return velocity; |
| ... | ... | |
| 65 | 78 |
send_command_packet (station_robot_set_orbs, data, 6); |
| 66 | 79 |
} |
| 67 | 80 |
|
| 68 |
/** Direction is direction_off/direction_forward/direction_backward, not FORWARD/BACKWARD */
|
|
| 81 |
/** Direction is motor_direction_off/forward/backward, not FORWARD/BACKWARD */
|
|
| 69 | 82 |
void robot_set_motors (uint8_t direction1, uint8_t speed1, uint8_t direction2, uint8_t speed2) |
| 70 | 83 |
{
|
| 71 | 84 |
char data[4]; |
| ... | ... | |
| 78 | 91 |
send_command_packet (station_robot_set_motors, data, 4); |
| 79 | 92 |
} |
| 80 | 93 |
|
| 81 |
/** Direction is direction_off/direction_forward/direction_backward, not FORWARD/BACKWARD */
|
|
| 94 |
/** Direction is direction_off/forward/backward, not FORWARD/BACKWARD */
|
|
| 82 | 95 |
void robot_set_motors_time (uint8_t direction1, uint8_t speed1, uint8_t direction2, uint8_t speed2, uint16_t time_ms) |
| 83 | 96 |
{
|
| 84 | 97 |
char data[6]; |
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