root / trunk / code / projects / diagnostic_station / station / test_encoders.c @ 1297
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1 | 1151 | deffi | #include "test_encoders.h" |
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2 | #include "global.h" |
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3 | 1182 | deffi | #include "comm_robot.h" |
4 | 1151 | deffi | |
5 | 1215 | deffi | #include "hardware.h" |
6 | |||
7 | // ******************
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8 | // ** Data sending **
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9 | // ******************
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10 | |||
11 | static void send_encoder_data (uint8_t num, uint8_t direction, |
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12 | 1297 | deffi | int16_t *data_station, int16_t *data_robot, uint8_t num_measurements) |
13 | 1215 | deffi | { |
14 | if (direction!=motor_direction_off)
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15 | { |
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16 | usb_puts ("data encoder ");
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17 | usb_puti (num); |
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18 | usb_puts (" ");
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19 | usb_puts (motor_direction_string (direction)); |
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20 | usb_puts (" ");
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21 | |||
22 | for (uint8_t i=0; i<num_measurements; ++i) |
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23 | { |
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24 | usb_putc (' ');
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25 | usb_puti (data_station[i]); |
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26 | usb_putc ('/');
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27 | usb_puti (data_robot[i]); |
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28 | } |
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29 | |||
30 | usb_puts (NL); |
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31 | } |
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32 | } |
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33 | |||
34 | |||
35 | // ************************
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36 | // ** Internal functions **
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37 | // ************************
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38 | |||
39 | 1297 | deffi | static void test_encoders_direction (uint8_t direction1, uint8_t direction2, uint8_t num_measurements, uint8_t velocity, uint16_t on_delay, uint16_t off_delay) |
40 | 1203 | deffi | { |
41 | 1215 | deffi | // Allocate space for the data on the stack
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42 | int16_t *data_station_l =malloc (num_measurements*sizeof (uint16_t));
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43 | int16_t *data_station_r =malloc (num_measurements*sizeof (uint16_t));
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44 | int16_t *data_robot_l =malloc (num_measurements*sizeof (uint16_t));
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45 | int16_t *data_robot_r =malloc (num_measurements*sizeof (uint16_t));
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46 | |||
47 | 1226 | deffi | usb_puts ("# Resetting encoders" NL);
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48 | 1251 | deffi | dynamos_reset (); |
49 | 1219 | deffi | robot_reset_encoders (); |
50 | 1215 | deffi | |
51 | 1159 | deffi | for (uint8_t m=0; m<num_measurements; ++m) |
52 | { |
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53 | robot_set_motors (direction1, velocity, direction2, velocity); |
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54 | 1164 | deffi | delay_ms (on_delay); |
55 | robot_set_motors_off (); |
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56 | delay_ms (off_delay); |
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57 | |||
58 | 1251 | deffi | // Read the station dynamos
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59 | dynamos_read (&(data_station_l[m]), &(data_station_r[m])); |
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60 | 1219 | deffi | |
61 | // Read the robot encoders
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62 | robot_read_encoders (&(data_robot_l[m]), &(data_robot_r[m])); |
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63 | 1159 | deffi | } |
64 | |||
65 | 1297 | deffi | send_encoder_data (0, direction1, data_station_l, data_robot_l, num_measurements);
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66 | send_encoder_data (1, direction2, data_station_r, data_robot_r, num_measurements);
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67 | 1215 | deffi | |
68 | free (data_robot_r); |
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69 | free (data_robot_l); |
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70 | free (data_station_r); |
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71 | free (data_station_l); |
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72 | 1159 | deffi | } |
73 | |||
74 | 1215 | deffi | |
75 | // **********************
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76 | // ** Public functions **
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77 | // **********************
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78 | |||
79 | 1295 | deffi | #define NUM 4 |
80 | #define VEL 200 |
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81 | #define ON_DELAY 500 |
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82 | #define OFF_DELAY 800 |
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83 | |||
84 | 1202 | deffi | void test_encoder_all (void) |
85 | 1151 | deffi | { |
86 | 1166 | deffi | usb_puts("# Testing encoders" NL);
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87 | 1159 | deffi | |
88 | 1297 | deffi | test_encoders_direction (motor_direction_forward , motor_direction_backward, NUM, VEL, ON_DELAY, OFF_DELAY); |
89 | test_encoders_direction (motor_direction_backward, motor_direction_forward , NUM, VEL, ON_DELAY, OFF_DELAY); |
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90 | 1159 | deffi | |
91 | 1166 | deffi | usb_puts("# Testing encoders finished" NL);
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92 | 1151 | deffi | } |
93 | |||
94 | 1202 | deffi | void test_encoder (uint8_t num)
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95 | { |
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96 | 1205 | deffi | if (num==1) |
97 | { |
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98 | 1297 | deffi | test_encoders_direction (motor_direction_forward , motor_direction_off, NUM, VEL, ON_DELAY, OFF_DELAY); |
99 | test_encoders_direction (motor_direction_backward, motor_direction_off, NUM, VEL, ON_DELAY, OFF_DELAY); |
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100 | 1205 | deffi | } |
101 | else if (num==2) |
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102 | { |
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103 | 1297 | deffi | test_encoders_direction (motor_direction_off, motor_direction_forward , NUM, VEL, ON_DELAY, OFF_DELAY); |
104 | test_encoders_direction (motor_direction_off, motor_direction_backward, NUM, VEL, ON_DELAY, OFF_DELAY); |
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105 | 1205 | deffi | } |
106 | 1202 | deffi | } |