Revision 1166
Added # to the beginning of every USB output line, as it should not be interpreted by the server.
| trunk/code/projects/diagnostic_station/station/station_hardware.c | ||
|---|---|---|
| 2 | 2 |
|
| 3 | 3 |
void hardware_init () |
| 4 | 4 |
{
|
| 5 |
usb_puts ("Initializing station hardware" NL);
|
|
| 5 |
usb_puts ("# Initializing station hardware" NL);
|
|
| 6 | 6 |
|
| 7 | 7 |
// FIXME implement |
| 8 | 8 |
} |
| 9 | 9 |
|
| 10 | 10 |
void rotate_to_position (uint16_t position) |
| 11 | 11 |
{
|
| 12 |
usb_puts ("Rotating to position ");
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|
| 12 |
usb_puts ("# Rotating to position ");
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|
| 13 | 13 |
usb_puti (position); |
| 14 | 14 |
usb_puts (NL); |
| 15 | 15 |
|
| 16 | 16 |
// FIXME implement |
| 17 | 17 |
|
| 18 |
usb_puts ("Robot position reached");
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|
| 18 |
usb_puts ("# Robot position reached");
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|
| 19 | 19 |
} |
| 20 | 20 |
|
| 21 | 21 |
void set_rbom (bool on) |
| 22 | 22 |
{
|
| 23 | 23 |
if (on) |
| 24 | 24 |
{
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usb_puts ("Turning RBOM light on" NL);
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usb_puts ("# Turning RBOM light on" NL);
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|
| 26 | 26 |
// FIXME implement |
| 27 | 27 |
} |
| 28 | 28 |
else |
| 29 | 29 |
{
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usb_puts ("Turning RBOM light off" NL);
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|
| 30 |
usb_puts ("# Turning RBOM light off" NL);
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|
| 31 | 31 |
// FIXME implement |
| 32 | 32 |
} |
| 33 | 33 |
} |
| 34 | 34 |
|
| 35 | 35 |
void read_rbom (uint16_t *values) |
| 36 | 36 |
{
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usb_puts ("Reading RBOM" NL);
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usb_puts ("# Reading RBOM" NL);
|
|
| 38 | 38 |
// FIXME implement |
| 39 | 39 |
} |
| 40 | 40 |
|
| 41 | 41 |
void set_wall_position (uint16_t position) |
| 42 | 42 |
{
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usb_puts ("Moving wall to position ");
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usb_puts ("# Moving wall to position ");
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|
| 44 | 44 |
usb_puti (position); |
| 45 | 45 |
usb_puts (NL); |
| 46 | 46 |
|
| 47 | 47 |
// FIXME implement |
| 48 | 48 |
|
| 49 |
usb_puts ("Wall position reached");
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|
| 49 |
usb_puts ("# Wall position reached");
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|
| 50 | 50 |
} |
| 51 | 51 |
|
| 52 | 52 |
void read_encoders (uint16_t *values) |
| 53 | 53 |
{
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usb_puts ("Reading encoder values");
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usb_puts ("# Reading encoder values");
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|
| 55 | 55 |
// FIXME implement |
| 56 | 56 |
} |
| trunk/code/projects/diagnostic_station/station/test_encoders.c | ||
|---|---|---|
| 36 | 36 |
|
| 37 | 37 |
void test_encoders (void) |
| 38 | 38 |
{
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| 39 |
usb_puts("Testing encoders" NL);
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usb_puts("# Testing encoders" NL);
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| 40 | 40 |
|
| 41 | 41 |
test_encoders_direction (FORWARD, BACKWARD); |
| 42 | 42 |
test_encoders_direction (BACKWARD, FORWARD); |
| 43 | 43 |
|
| 44 | 44 |
//send data |
| 45 | 45 |
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usb_puts("Testing encoders finished" NL);
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usb_puts("# Testing encoders finished" NL);
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|
| 47 | 47 |
} |
| 48 | 48 |
|
| trunk/code/projects/diagnostic_station/station/test_rangefinders.c | ||
|---|---|---|
| 3 | 3 |
|
| 4 | 4 |
void test_rangefinders (void) |
| 5 | 5 |
{
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usb_puts("Testing rangefinders" NL);
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usb_puts("# Testing rangefinders" NL);
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| 7 | 7 |
|
| 8 | 8 |
for (int n=0; n<5; ++n) |
| 9 | 9 |
{
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usb_puts("Testing rangefinder ");
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usb_puts("# Testing rangefinder ");
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| 11 | 11 |
usb_puti(n); |
| 12 | 12 |
usb_puts(NL); |
| 13 | 13 |
|
| ... | ... | |
| 24 | 24 |
|
| 25 | 25 |
//send data |
| 26 | 26 |
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usb_puts("Testing rangefinders finished" NL);
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|
| 27 |
usb_puts("# Testing rangefinders finished" NL);
|
|
| 28 | 28 |
} |
| 29 | 29 |
|
| trunk/code/projects/diagnostic_station/station/test_bom.c | ||
|---|---|---|
| 3 | 3 |
|
| 4 | 4 |
void test_bom (bool test_emitters, bool test_detectors) |
| 5 | 5 |
{
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| 6 |
usb_puts("Testing BOM" NL);
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usb_puts("# Testing BOM" NL);
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|
| 7 | 7 |
|
| 8 | 8 |
for (uint8_t n=0; n<15; ++n) |
| 9 | 9 |
{
|
| 10 | 10 |
if (test_emitters) |
| 11 | 11 |
{
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| 12 |
usb_puts("Testing BOM emitter ");
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usb_puts("# Testing BOM emitter ");
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|
| 13 | 13 |
usb_puti(n); |
| 14 | 14 |
usb_puts(NL); |
| 15 | 15 |
// rotate (emitter position) |
| ... | ... | |
| 22 | 22 |
|
| 23 | 23 |
if (test_detectors) |
| 24 | 24 |
{
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usb_puts("Testing BOM detector ");
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usb_puts("# Testing BOM detector ");
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| 26 | 26 |
usb_puti(n); |
| 27 | 27 |
usb_puts(NL); |
| 28 | 28 |
// rotate (detector position) |
| ... | ... | |
| 40 | 40 |
|
| 41 | 41 |
//send data |
| 42 | 42 |
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| 43 |
usb_puts("Testing BOM finished" NL);
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usb_puts("# Testing BOM finished" NL);
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| 44 | 44 |
} |
| trunk/code/projects/diagnostic_station/station/test_motors.c | ||
|---|---|---|
| 39 | 39 |
|
| 40 | 40 |
void test_motors (void) |
| 41 | 41 |
{
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| 42 |
usb_puts("Testing motors" NL);
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| 42 |
usb_puts("# Testing motors" NL);
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| 43 | 43 |
|
| 44 | 44 |
test_motors_direction (FORWARD, BACKWARD); |
| 45 | 45 |
test_motors_direction (BACKWARD, FORWARD); |
| ... | ... | |
| 49 | 49 |
//send data |
| 50 | 50 |
|
| 51 | 51 |
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| 52 |
usb_puts("Testing motors finished" NL);
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| 52 |
usb_puts("# Testing motors finished" NL);
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|
| 53 | 53 |
} |
| trunk/code/projects/diagnostic_station/station/main.c | ||
|---|---|---|
| 21 | 21 |
communication_ok=test_comm (); |
| 22 | 22 |
|
| 23 | 23 |
if (!communication_ok) |
| 24 |
usb_puts ("Communications required. Stop." NL);
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| 24 |
usb_puts ("# Communications required. Stop." NL);
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|
| 25 | 25 |
|
| 26 | 26 |
return communication_ok; |
| 27 | 27 |
} |
| ... | ... | |
| 32 | 32 |
// succeeded before (that's what test_all means). |
| 33 | 33 |
if (!test_comm ()) |
| 34 | 34 |
{
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| 35 |
usb_puts ("Communications require. Stop." NL);
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| 35 |
usb_puts ("# Communications required. Stop." NL);
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| 36 | 36 |
return; |
| 37 | 37 |
} |
| 38 | 38 |
|
| ... | ... | |
| 50 | 50 |
orbs_set (0,255,0, 0,255,0); |
| 51 | 51 |
|
| 52 | 52 |
usb_puts (NL); |
| 53 |
usb_puts ("Diagnostic station interactive mode" NL);
|
|
| 54 |
usb_puts ("Test (s)elf, (a)ll, (c)omm, (b)om, (r)angefinders, (m)otors, (e)ncoders" NL);
|
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| 53 |
usb_puts ("# Diagnostic station interactive mode" NL);
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| 54 |
usb_puts ("# Test (s)elf, (a)ll, (c)omm, (b)om, (r)angefinders, (m)otors, (e)ncoders" NL);
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|
| 55 | 55 |
|
| 56 | 56 |
char choice = usb_getc (); |
| 57 | 57 |
switch (choice) {
|
| ... | ... | |
| 63 | 63 |
case 'e': case 'E': if (require_comm ()) test_encoders (); break; |
| 64 | 64 |
case 's': case 'S': self_test (); break; |
| 65 | 65 |
default: break; // ignore it |
| 66 |
// usb_puts("Received invalid input ");
|
|
| 67 |
// usb_putc(choice); |
|
| 68 |
// usb_puts(NL); |
|
| 69 | 66 |
} |
| 70 | 67 |
} |
| 71 | 68 |
} |
| ... | ... | |
| 88 | 85 |
usb_init (); |
| 89 | 86 |
|
| 90 | 87 |
usb_puts(NL NL NL); |
| 91 |
usb_puts("Diagnostic station version " version_string " starting" NL);
|
|
| 88 |
usb_puts("# Diagnostic station version " version_string " starting" NL);
|
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| 92 | 89 |
|
| 93 | 90 |
orb_init_pwm (); |
| 94 | 91 |
hardware_init (); |
| 95 | 92 |
|
| 96 |
orb1_set (255, 0, 0); usb_puts("Initializing wireless" NL);
|
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| 93 |
orb1_set (255, 0, 0); usb_puts("# Initializing wireless" NL);
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| 97 | 94 |
xbee_init (); |
| 98 | 95 |
wl_init(); |
| 99 |
orb2_set (255, 0, 0); usb_puts("Done" NL);
|
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| 96 |
orb2_set (255, 0, 0); usb_puts("# Done" NL);
|
|
| 100 | 97 |
|
| 101 | 98 |
if (button1_read ()) |
| 102 | 99 |
test_all (); |
| trunk/code/projects/diagnostic_station/station/self_test.c | ||
|---|---|---|
| 3 | 3 |
|
| 4 | 4 |
void self_test () |
| 5 | 5 |
{
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| 6 |
usb_puts("Doing self test" NL);
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| 6 |
usb_puts("# Doing self test" NL);
|
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| 7 | 7 |
|
| 8 | 8 |
// FIXME implement |
| 9 | 9 |
// move all movable parts a bit, and flahsh the lights |
| 10 | 10 |
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| 11 |
usb_puts("Self test finished" NL);
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| 11 |
usb_puts("# Self test finished" NL);
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| 12 | 12 |
} |
| trunk/code/projects/diagnostic_station/station/test_comm.c | ||
|---|---|---|
| 4 | 4 |
/** Returns whether we have communication **/ |
| 5 | 5 |
bool test_comm () |
| 6 | 6 |
{
|
| 7 |
usb_puts("Testing communications" NL);
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| 7 |
usb_puts("# Testing communications" NL);
|
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| 8 | 8 |
|
| 9 | 9 |
// FIXME implement |
| 10 | 10 |
|
| 11 | 11 |
bool success=true; |
| 12 | 12 |
|
| 13 | 13 |
if (success) |
| 14 |
usb_puts("Testing communication finished (communication succeeded)" NL);
|
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| 14 |
usb_puts("# Testing communication finished (communication succeeded)" NL);
|
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| 15 | 15 |
else |
| 16 |
usb_puts("Testing communication finished (communication failed)" NL);
|
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| 16 |
usb_puts("# Testing communication finished (communication failed)" NL);
|
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| 17 | 17 |
|
| 18 | 18 |
return success; |
| 19 | 19 |
} |
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