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Revision 1297

Ehm...Fixes

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trunk/code/projects/diagnostic_station/station/test_encoders.c
9 9
// ******************
10 10

  
11 11
static void send_encoder_data (uint8_t num, uint8_t direction, 
12
	int16_t *data_station, int16_t *data_robot)
12
	int16_t *data_station, int16_t *data_robot, uint8_t num_measurements)
13 13
{
14 14
	if (direction!=motor_direction_off)
15 15
	{
......
36 36
// ** Internal functions **
37 37
// ************************
38 38

  
39
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)
39
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 40
{
41 41
	// Allocate space for the data on the stack
42 42
	int16_t *data_station_l  =malloc (num_measurements*sizeof (uint16_t));
......
62 62
		robot_read_encoders (&(data_robot_l[m]), &(data_robot_r[m]));
63 63
	}
64 64

  
65
	send_encoder_data (0, direction1, data_station_l, data_robot_l);
66
	send_encoder_data (1, direction2, data_station_r, data_robot_r);
65
	send_encoder_data (0, direction1, data_station_l, data_robot_l, num_measurements);
66
	send_encoder_data (1, direction2, data_station_r, data_robot_r, num_measurements);
67 67
	
68 68
	free (data_robot_r);
69 69
	free (data_robot_l);
......
85 85
{
86 86
	usb_puts("# Testing encoders" NL);
87 87

  
88
	test_encoders_direction (motor_direction_forward , motor_direction_backward, NUM, VEL, ON_DLEAY, OFF_DELAY);
89
	test_encoders_direction (motor_direction_backward, motor_direction_forward , NUM, VEL, ON_DLEAY, OFF_DELAY);
88
	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);
90 90

  
91 91
	usb_puts("# Testing encoders finished" NL);
92 92
}
......
95 95
{
96 96
	if (num==1)
97 97
	{
98
		test_encoders_direction (motor_direction_forward , motor_direction_off, NUM, VEL, ON_DLEAY, OFF_DELAY);
99
		test_encoders_direction (motor_direction_backward, motor_direction_off, NUM, VEL, ON_DLEAY, OFF_DELAY);
98
		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);
100 100
	}
101 101
	else if (num==2)
102 102
	{
103
		test_encoders_direction (motor_direction_off, motor_direction_forward , NUM, VEL, ON_DLEAY, OFF_DELAY);
104
		test_encoders_direction (motor_direction_off, motor_direction_backward, NUM, VEL, ON_DLEAY, OFF_DELAY);
103
		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);
105 105
	}
106 106
}

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