Revision 1305

trunk/code/projects/diagnostic_station/station/dump_robot.c (revision 1305)
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		usb_puts ("Left:  "); usb_puti (left ); usb_puts (NL);
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		usb_puts ("Right: "); usb_puti (right); usb_puts (NL);
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		usb_puts (NL NL);
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		delay_ms (50);
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	}
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}
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trunk/code/projects/diagnostic_station/station/test_motors.c	(revision 1305)






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// ** Internal functions **


  		
  




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


  		
  




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#define velocity_steady_delay 400


  		
  




  
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	// One way to do it


  		
  




  
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//	#define vel_inc 10


  		
  




  
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//	#define vel_steps 12


  		
  




  
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//	#define vel_min 140


  		
  




  
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//	#define vel_max 250


  		
  




  
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//	#define velocity_steady_delay 400


  		
  




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	// More steps at smaller intervals. We don't need so much delay here.


  		
  




  
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	#define vel_inc 2


  		
  




  
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	#define vel_steps 56


  		
  




  
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	#define vel_min 140


  		
  




  
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	#define vel_max 250


  		
  




  
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	#define velocity_steady_delay 50


  		
  




  
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static void test_motors_direction_acceleration (uint8_t direction1, uint8_t direction2, uint8_t pwm_start, uint8_t num_steps, int8_t pwm_step, char *acceleration_string)


  		
  




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{


  		
  




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	// Allocate space for the data on the stack


  		
  




......




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	// vel_min is also reached twice, once at the beginning of accelerating and once at the end of decelerating, and


  		
  




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	// this one is important.


  		
  




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	#define vel_inc 10


  		
  




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	#define vel_steps 12


  		
  




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	#define vel_min 140


  		
  




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	#define vel_max 250


  		
  




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	test_motors_direction_acceleration (direction1, direction2, vel_min, vel_steps, vel_inc, "increasing");


  		
  




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	test_motors_direction_acceleration (direction1, direction2, vel_max, vel_steps, -vel_inc, "decreasing");


  		
  




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}


  		
  













trunk/code/projects/diagnostic_station/station/test_encoders.c	(revision 1305)






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		// Read the robot encoders


  		
  




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		robot_read_encoders (&(data_robot_l[m]), &(data_robot_r[m]));


  		
  




  
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		//usb_puts ("# I readed teh encoders: ");


  		
  




  
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		//usb_puti (data_robot_l[m]);


  		
  




  
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		//usb_puts (" ");


  		
  




  
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		//usb_puti (data_robot_r[m]);


  		
  




  
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		//usb_puts (NL);


  		
  




  
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	}


  		
  




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	send_encoder_data (0, direction1, data_station_l, data_robot_l, num_measurements);


  		
  




......




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// ** Public functions **


  		
  




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


  		
  




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#define NUM 4


  		
  




  
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// Encoder readings seem to be unreliable with these values (on too long?)


  		
  




  
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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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// Testing values


  		
  




  
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#define NUM 8


  		
  




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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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#define ON_DELAY 150


  		
  




  
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#define OFF_DELAY 400


  		
  




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void test_encoder_all (void)


  		
  




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{


  		
  












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