root / trunk / code / projects / diagnostic_station / station / test_motors.c @ 1305
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#include "test_motors.h" |
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#include "global.h" |
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#include "comm_robot.h" |
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#include "hardware_dynamos.h" |
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// ******************
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// ** Data sending **
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// ******************
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static void send_motor_data (uint8_t num, uint8_t direction, char *acceleration_string, |
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uint8_t num_steps, uint8_t *data_pwm, int16_t *data_velocity) |
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{ |
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if (direction!=motor_direction_off)
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{ |
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usb_puts ("data motor ");
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usb_puti (num); |
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usb_puts (" ");
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usb_puts (motor_direction_string (direction)); |
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usb_puts (" ");
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usb_puts (acceleration_string); |
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usb_puts (" ");
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for (uint8_t i=0; i<num_steps; ++i) |
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{ |
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usb_putc (' ');
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usb_puti (data_pwm[i]); |
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usb_putc ('/');
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usb_puti (data_velocity[i]); |
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} |
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usb_puts (NL); |
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} |
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} |
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// ************************
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// ** Internal functions **
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// ************************
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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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uint8_t *data_pwm =malloc (num_steps*sizeof (uint8_t ));
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int16_t *data_velocity_l =malloc (num_steps*sizeof (uint16_t));
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int16_t *data_velocity_r =malloc (num_steps*sizeof (uint16_t));
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uint8_t pwm=pwm_start; |
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for (uint8_t i=0; i<num_steps; ++i) |
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{ |
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robot_set_motors (direction1, pwm, direction2, pwm); |
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// Wait some fixed time for the velocity to reach steady state. This could be improved.
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delay_ms (velocity_steady_delay); |
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data_pwm[i]=pwm; |
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// Reset the dynamos, wait some time, then read the dynamos.
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// Nothing else should go between dynamos_reset and dynamos_read.
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// Note that we are currently using busy waiting which will be totally wrong if there are any interrupts.
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dynamos_reset (); |
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delay_ms (500);
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dynamos_read (&(data_velocity_l[i]), &(data_velocity_r[i])); |
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// Velocity readings are dynamo ticks per second.
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data_velocity_l[i]*=2;
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data_velocity_r[i]*=2;
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pwm+=pwm_step; |
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} |
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send_motor_data (0, direction1, acceleration_string, num_steps, data_pwm, data_velocity_l);
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send_motor_data (1, direction2, acceleration_string, num_steps, data_pwm, data_velocity_r);
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robot_set_motors (motor_direction_off, 0, motor_direction_off, 0); |
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free (data_velocity_r); |
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free (data_velocity_l); |
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free (data_pwm); |
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} |
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static void test_motors_direction (uint8_t direction1, uint8_t direction2) |
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{ |
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// The following equation must be true: vel_min+(vel_steps-1)*vel_inc=vel_max
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// Note that we're setting vel_max twice, once going up and once going down. It's not important for vel_max, but
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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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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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} |
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// **********************
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// ** Public functions **
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// **********************
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void test_motor_all (void) |
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{ |
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usb_puts("# Testing motors" NL);
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test_motors_direction (motor_direction_forward, motor_direction_backward); |
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test_motors_direction (motor_direction_backward, motor_direction_forward); |
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robot_set_motors_off (); |
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usb_puts("# Testing motors finished" NL);
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} |
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void test_motor (uint8_t num)
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{ |
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if (num==1) |
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{ |
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test_motors_direction (motor_direction_forward, motor_direction_off); |
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test_motors_direction (motor_direction_backward, motor_direction_off); |
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} |
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else if (num==2) |
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{ |
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test_motors_direction (motor_direction_off, motor_direction_forward); |
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test_motors_direction (motor_direction_off, motor_direction_backward); |
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} |
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} |