root / trunk / code / projects / diagnostic_station / station / test_encoders.c @ 1159
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#include "test_encoders.h" |
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#include "global.h" |
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#define num_measurements 5 |
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#define velocity 200 |
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#define delay 500 |
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void test_encoders_direction (uint8_t direction1, uint8_t direction2)
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{ |
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// reset_encoders ();
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for (uint8_t m=0; m<num_measurements; ++m) |
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{ |
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robot_set_motors (direction1, velocity, direction2, velocity); |
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delay_ms (delay); |
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robot_set_motors (direction1, 0, direction2, 0); |
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delay_ms (delay); // FIXME wait for steady state!
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// send (turn motor on for time)
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// wait (done)
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// wait_stopped
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// send (read encoders)
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// receive (data)
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// read encoders
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} |
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} |
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void test_encoders (void) |
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{ |
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usb_puts("Testing encoders" NL);
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test_encoders_direction (FORWARD, BACKWARD); |
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test_encoders_direction (BACKWARD, FORWARD); |
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//send data
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usb_puts("Testing encoders finished" NL);
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} |
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