Revision 1295

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trunk/code/projects/diagnostic_station/station/test_encoders.c
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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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}
trunk/code/projects/diagnostic_station/station/dump_station.c
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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
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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);

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