Revision 1297
Ehm...Fixes
test_encoders.c | ||
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9 | 9 |
// ****************** |
10 | 10 |
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static void send_encoder_data (uint8_t num, uint8_t direction, |
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int16_t *data_station, int16_t *data_robot) |
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int16_t *data_station, int16_t *data_robot, uint8_t num_measurements)
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13 | 13 |
{ |
14 | 14 |
if (direction!=motor_direction_off) |
15 | 15 |
{ |
... | ... | |
36 | 36 |
// ** Internal functions ** |
37 | 37 |
// ************************ |
38 | 38 |
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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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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)
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40 | 40 |
{ |
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// 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 |
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send_encoder_data (0, direction1, data_station_l, data_robot_l); |
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send_encoder_data (1, direction2, data_station_r, data_robot_r); |
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send_encoder_data (0, direction1, data_station_l, data_robot_l, num_measurements);
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send_encoder_data (1, direction2, data_station_r, data_robot_r, num_measurements);
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67 | 67 |
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68 | 68 |
free (data_robot_r); |
69 | 69 |
free (data_robot_l); |
... | ... | |
85 | 85 |
{ |
86 | 86 |
usb_puts("# Testing encoders" NL); |
87 | 87 |
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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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test_encoders_direction (motor_direction_forward , motor_direction_backward, NUM, VEL, ON_DELAY, OFF_DELAY);
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test_encoders_direction (motor_direction_backward, motor_direction_forward , NUM, VEL, ON_DELAY, OFF_DELAY);
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90 | 90 |
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91 | 91 |
usb_puts("# Testing encoders finished" NL); |
92 | 92 |
} |
... | ... | |
95 | 95 |
{ |
96 | 96 |
if (num==1) |
97 | 97 |
{ |
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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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test_encoders_direction (motor_direction_forward , motor_direction_off, NUM, VEL, ON_DELAY, OFF_DELAY);
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test_encoders_direction (motor_direction_backward, motor_direction_off, NUM, VEL, ON_DELAY, OFF_DELAY);
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100 | 100 |
} |
101 | 101 |
else if (num==2) |
102 | 102 |
{ |
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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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test_encoders_direction (motor_direction_off, motor_direction_forward , NUM, VEL, ON_DELAY, OFF_DELAY);
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test_encoders_direction (motor_direction_off, motor_direction_backward, NUM, VEL, ON_DELAY, OFF_DELAY);
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105 | 105 |
} |
106 | 106 |
} |
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