Revision 1295

trunk/code/projects/diagnostic_station/station/dump_station.c (revision 1295)
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	dynamos_reset ();


  		
  




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	// TODO implement resetting the dynamos (r key, for example)


  		
  




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	while (usb_getc_nb (&c)==-1)


  		
  




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	{


  		
  




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		dynamos_read (&left, &right);


  		
  













trunk/code/projects/diagnostic_station/station/dump_robot.c	(revision 1295)






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	robot_reset_encoders ();


  		
  




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	// TODO implement resetting the encoders (r key, for example)


  		
  




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	while (usb_getc_nb (&c)==-1)


  		
  




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	{


  		
  




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		robot_read_encoders (&left, &right);


  		
  













trunk/code/projects/diagnostic_station/station/test_encoders.c	(revision 1295)






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#include "hardware.h"


  		
  




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// TODO as parameters


  		
  




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#define num_measurements 4


  		
  




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#define velocity 200


  		
  




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#define on_delay 500


  		
  




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#define off_delay 800


  		
  




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// ******************


  		
  




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// ** Data sending **


  		
  




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// ******************


  		
  




......




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// ** Internal functions **


  		
  




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// ************************


  		
  




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static void test_encoders_direction (uint8_t direction1, uint8_t direction2)


  		
  




  
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static void test_encoders_direction (uint8_t direction1, uint8_t direction2, uint8_t num_measurements, uint8_t velocity, uint8_t on_delay, uint8_t off_delay)


  		
  




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{


  		
  




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	// Allocate space for the data on the stack


  		
  




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	int16_t *data_station_l  =malloc (num_measurements*sizeof (uint16_t));


  		
  




......




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// ** Public functions **


  		
  




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// **********************


  		
  




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#define NUM 4


  		
  




  
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#define VEL 200


  		
  




  
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#define ON_DELAY 500


  		
  




  
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#define OFF_DELAY 800


  		
  




  
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void test_encoder_all (void)


  		
  




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{


  		
  




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	usb_puts("# Testing encoders" NL);


  		
  




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	test_encoders_direction (motor_direction_forward, motor_direction_backward);


  		
  




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	test_encoders_direction (motor_direction_backward, motor_direction_forward);


  		
  




  
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	test_encoders_direction (motor_direction_forward , motor_direction_backward, NUM, VEL, ON_DLEAY, OFF_DELAY);


  		
  




  
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	test_encoders_direction (motor_direction_backward, motor_direction_forward , NUM, VEL, ON_DLEAY, OFF_DELAY);


  		
  




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	usb_puts("# Testing encoders finished" NL);


  		
  




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}


  		
  




......




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{


  		
  




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	if (num==1)


  		
  




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	{


  		
  




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		test_encoders_direction (motor_direction_forward, motor_direction_off);


  		
  




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		test_encoders_direction (motor_direction_backward, motor_direction_off);


  		
  




  
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		test_encoders_direction (motor_direction_forward , motor_direction_off, NUM, VEL, ON_DLEAY, OFF_DELAY);


  		
  




  
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		test_encoders_direction (motor_direction_backward, motor_direction_off, NUM, VEL, ON_DLEAY, OFF_DELAY);


  		
  




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	}


  		
  




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	else if (num==2)


  		
  




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	{


  		
  




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		test_encoders_direction (motor_direction_off, motor_direction_forward);


  		
  




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		test_encoders_direction (motor_direction_off, motor_direction_backward);


  		
  




  
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		test_encoders_direction (motor_direction_off, motor_direction_forward , NUM, VEL, ON_DLEAY, OFF_DELAY);


  		
  




  
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		test_encoders_direction (motor_direction_off, motor_direction_backward, NUM, VEL, ON_DLEAY, OFF_DELAY);


  		
  




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	}


  		
  




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}


  		
  












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