Revision 1205
Implemented single encoder testing
Cleaned up motor direction/wall direction naming
| test_encoders.c | ||
|---|---|---|
| 7 | 7 |
#define on_delay 500 |
| 8 | 8 |
#define off_delay 800 |
| 9 | 9 |
|
| 10 |
static char *direction_string (uint8_t direction) |
|
| 11 |
{
|
|
| 12 |
if (direction==direction_forward) |
|
| 13 |
return "forward"; |
|
| 14 |
else if (direction==BACKWARD) |
|
| 15 |
return "backward"; |
|
| 16 |
else |
|
| 17 |
return "?"; |
|
| 18 |
} |
|
| 19 |
|
|
| 20 | 10 |
static void test_encoders_direction (uint8_t direction1, uint8_t direction2) |
| 21 | 11 |
{
|
| 22 | 12 |
// reset_encoders (); |
| ... | ... | |
| 46 | 36 |
// Send data |
| 47 | 37 |
for (uint8_t i=1; i<=2; ++i) |
| 48 | 38 |
{
|
| 49 |
usb_puts ("data encoder ");
|
|
| 50 |
usb_puti (i); |
|
| 51 |
usb_puts (" ");
|
|
| 52 |
usb_puts (direction_string (i==1?direction1:direction2)); |
|
| 53 |
usb_puts (" 100/100 200/200 300/300 400/400 500/500 600/600 700/700" NL);
|
|
| 39 |
uint8_t direction=(i==1)?direction1:direction2; |
|
| 40 |
|
|
| 41 |
if (direction!=motor_direction_off) |
|
| 42 |
{
|
|
| 43 |
usb_puts ("data encoder ");
|
|
| 44 |
usb_puti (i); |
|
| 45 |
usb_puts (" ");
|
|
| 46 |
usb_puts (motor_direction_string (direction)); |
|
| 47 |
usb_puts (" 100/100 200/200 300/300 400/400 500/500 600/600 700/700" NL);
|
|
| 48 |
} |
|
| 54 | 49 |
} |
| 55 | 50 |
} |
| 56 | 51 |
|
| ... | ... | |
| 58 | 53 |
{
|
| 59 | 54 |
usb_puts("# Testing encoders" NL);
|
| 60 | 55 |
|
| 61 |
test_encoders_direction (direction_forward, BACKWARD);
|
|
| 62 |
test_encoders_direction (BACKWARD, direction_forward);
|
|
| 56 |
test_encoders_direction (motor_direction_forward, motor_direction_backward);
|
|
| 57 |
test_encoders_direction (motor_direction_backward, motor_direction_forward);
|
|
| 63 | 58 |
|
| 64 | 59 |
usb_puts("# Testing encoders finished" NL);
|
| 65 | 60 |
} |
| 66 | 61 |
|
| 67 | 62 |
void test_encoder (uint8_t num) |
| 68 | 63 |
{
|
| 69 |
if (!(num==1 || num==2)) return; |
|
| 70 |
|
|
| 71 |
// TODO implement single encoder testing |
|
| 72 |
test_encoder_all (); |
|
| 64 |
if (num==1) |
|
| 65 |
{
|
|
| 66 |
test_encoders_direction (motor_direction_forward, motor_direction_off); |
|
| 67 |
test_encoders_direction (motor_direction_backward, motor_direction_off); |
|
| 68 |
} |
|
| 69 |
else if (num==2) |
|
| 70 |
{
|
|
| 71 |
test_encoders_direction (motor_direction_off, motor_direction_forward); |
|
| 72 |
test_encoders_direction (motor_direction_off, motor_direction_backward); |
|
| 73 |
} |
|
| 73 | 74 |
} |
Also available in: Unified diff