Revision 1205
Implemented single encoder testing
Cleaned up motor direction/wall direction naming
| trunk/code/projects/diagnostic_station/station/test_rangefinders.c | ||
|---|---|---|
| 1 | 1 |
#include "test_rangefinders.h" |
| 2 | 2 |
#include "global.h" |
| 3 | 3 |
|
| 4 |
#include "hardware.h" |
|
| 5 |
|
|
| 4 | 6 |
#include "comm_robot.h" |
| 5 | 7 |
|
| 6 |
static char *direction_string (uint8_t direction) |
|
| 7 |
{
|
|
| 8 |
if (direction==1) |
|
| 9 |
return "out"; |
|
| 10 |
else if (direction==2) |
|
| 11 |
return "in"; |
|
| 12 |
else |
|
| 13 |
return "?"; |
|
| 14 |
} |
|
| 15 | 8 |
|
| 16 |
|
|
| 17 | 9 |
void test_rangefinder (uint8_t num) |
| 18 | 10 |
{
|
| 19 | 11 |
if (num>4) return; |
| ... | ... | |
| 37 | 29 |
usb_puts ("data rangefinder ");
|
| 38 | 30 |
usb_puti (num); |
| 39 | 31 |
usb_puts (" ");
|
| 40 |
usb_puts (direction_string (direction)); |
|
| 32 |
usb_puts (wall_direction_string (direction));
|
|
| 41 | 33 |
usb_puts (" 1/1 2/2 3/3 4/4 5/5 6/6 7/7 8/8" NL);
|
| 42 | 34 |
} |
| 43 | 35 |
} |
| trunk/code/projects/diagnostic_station/station/test_motors.c | ||
|---|---|---|
| 11 | 11 |
|
| 12 | 12 |
static void test_motors_direction_velocity (uint8_t direction1, uint8_t direction2, uint8_t velocity) |
| 13 | 13 |
{
|
| 14 |
uint8_t velocity1=velocity, velocity2=velocity; |
|
| 15 |
|
|
| 16 | 14 |
robot_set_motors (direction1, velocity, direction2, velocity); |
| 17 | 15 |
delay_ms (vel_delay); |
| 18 | 16 |
|
| ... | ... | |
| 26 | 24 |
// } |
| 27 | 25 |
} |
| 28 | 26 |
|
| 29 |
static char *direction_string (uint8_t direction) |
|
| 30 |
{
|
|
| 31 |
if (direction==direction_forward) |
|
| 32 |
return "forward"; |
|
| 33 |
else if (direction==direction_backward) |
|
| 34 |
return "backward"; |
|
| 35 |
else if (direction==direction_off) |
|
| 36 |
return "off"; |
|
| 37 |
else |
|
| 38 |
return "?"; |
|
| 39 |
} |
|
| 40 |
|
|
| 41 | 27 |
static void test_motors_direction (uint8_t direction1, uint8_t direction2) |
| 42 | 28 |
{
|
| 43 | 29 |
// Use 16 bit variable for vel to avoid problems with overflow (if vel=250 and 10 is added, it would be 260-256=4 |
| ... | ... | |
| 52 | 38 |
{
|
| 53 | 39 |
uint8_t direction=(i==1)?direction1:direction2; |
| 54 | 40 |
|
| 55 |
if (direction!=direction_off) |
|
| 41 |
if (direction!=motor_direction_off)
|
|
| 56 | 42 |
{
|
| 57 | 43 |
usb_puts ("data motor ");
|
| 58 | 44 |
usb_puti (i); |
| 59 | 45 |
usb_puts (" ");
|
| 60 |
usb_puts (direction_string (direction)); |
|
| 46 |
usb_puts (motor_direction_string (direction));
|
|
| 61 | 47 |
usb_puts (" increasing ");
|
| 62 | 48 |
usb_puts (" 160/100 170/200 180/300 190/400 200/500 210/600 220/700" NL);
|
| 63 | 49 |
} |
| ... | ... | |
| 73 | 59 |
{
|
| 74 | 60 |
uint8_t direction=(i==1)?direction1:direction2; |
| 75 | 61 |
|
| 76 |
if (direction!=direction_off) |
|
| 62 |
if (direction!=motor_direction_off)
|
|
| 77 | 63 |
{
|
| 78 | 64 |
usb_puts ("data motor ");
|
| 79 | 65 |
usb_puti (i); |
| 80 | 66 |
usb_puts (" ");
|
| 81 |
usb_puts (direction_string (direction)); |
|
| 67 |
usb_puts (motor_direction_string (direction));
|
|
| 82 | 68 |
usb_puts (" decreasing ");
|
| 83 | 69 |
usb_puts (" 220/700 210/600 200/500 190/400 180/300 170/200 160/100" NL);
|
| 84 | 70 |
} |
| ... | ... | |
| 92 | 78 |
{
|
| 93 | 79 |
usb_puts("# Testing motors" NL);
|
| 94 | 80 |
|
| 95 |
test_motors_direction (direction_forward, direction_backward);
|
|
| 96 |
test_motors_direction (direction_backward, direction_forward);
|
|
| 81 |
test_motors_direction (motor_direction_forward, motor_direction_backward);
|
|
| 82 |
test_motors_direction (motor_direction_backward, motor_direction_forward);
|
|
| 97 | 83 |
|
| 98 | 84 |
robot_set_motors_off (); |
| 99 | 85 |
|
| ... | ... | |
| 104 | 90 |
{
|
| 105 | 91 |
if (num==1) |
| 106 | 92 |
{
|
| 107 |
test_motors_direction (direction_forward, direction_off);
|
|
| 108 |
test_motors_direction (direction_backward, direction_off);
|
|
| 93 |
test_motors_direction (motor_direction_forward, motor_direction_off);
|
|
| 94 |
test_motors_direction (motor_direction_backward, motor_direction_off);
|
|
| 109 | 95 |
} |
| 110 | 96 |
else if (num==2) |
| 111 | 97 |
{
|
| 112 |
test_motors_direction (direction_off, direction_forward);
|
|
| 113 |
test_motors_direction (direction_off, direction_backward);
|
|
| 98 |
test_motors_direction (motor_direction_off, motor_direction_forward);
|
|
| 99 |
test_motors_direction (motor_direction_off, motor_direction_backward);
|
|
| 114 | 100 |
} |
| 115 | 101 |
} |
| trunk/code/projects/diagnostic_station/station/comm_robot.c | ||
|---|---|---|
| 8 | 8 |
char finished = 0; |
| 9 | 9 |
char data_received[10]; |
| 10 | 10 |
|
| 11 |
char *motor_direction_string (uint8_t direction) |
|
| 12 |
{
|
|
| 13 |
if (direction==motor_direction_forward) |
|
| 14 |
return "forward"; |
|
| 15 |
else if (direction==motor_direction_backward) |
|
| 16 |
return "backward"; |
|
| 17 |
else if (direction==motor_direction_off) |
|
| 18 |
return "off"; |
|
| 19 |
else |
|
| 20 |
return "?"; |
|
| 21 |
} |
|
| 22 |
|
|
| 23 |
|
|
| 11 | 24 |
static uint8_t motor_direction (uint8_t direction) |
| 12 | 25 |
{
|
| 13 |
if (direction==direction_backward) |
|
| 26 |
if (direction==motor_direction_backward)
|
|
| 14 | 27 |
return BACKWARD; |
| 15 | 28 |
else |
| 16 | 29 |
return FORWARD; |
| ... | ... | |
| 18 | 31 |
|
| 19 | 32 |
static uint8_t motor_velocity (uint8_t direction, uint8_t velocity) |
| 20 | 33 |
{
|
| 21 |
if (direction==direction_off) |
|
| 34 |
if (direction==motor_direction_off)
|
|
| 22 | 35 |
return 0; |
| 23 | 36 |
else |
| 24 | 37 |
return velocity; |
| ... | ... | |
| 65 | 78 |
send_command_packet (station_robot_set_orbs, data, 6); |
| 66 | 79 |
} |
| 67 | 80 |
|
| 68 |
/** Direction is direction_off/direction_forward/direction_backward, not FORWARD/BACKWARD */
|
|
| 81 |
/** Direction is motor_direction_off/forward/backward, not FORWARD/BACKWARD */
|
|
| 69 | 82 |
void robot_set_motors (uint8_t direction1, uint8_t speed1, uint8_t direction2, uint8_t speed2) |
| 70 | 83 |
{
|
| 71 | 84 |
char data[4]; |
| ... | ... | |
| 78 | 91 |
send_command_packet (station_robot_set_motors, data, 4); |
| 79 | 92 |
} |
| 80 | 93 |
|
| 81 |
/** Direction is direction_off/direction_forward/direction_backward, not FORWARD/BACKWARD */
|
|
| 94 |
/** Direction is direction_off/forward/backward, not FORWARD/BACKWARD */
|
|
| 82 | 95 |
void robot_set_motors_time (uint8_t direction1, uint8_t speed1, uint8_t direction2, uint8_t speed2, uint16_t time_ms) |
| 83 | 96 |
{
|
| 84 | 97 |
char data[6]; |
| trunk/code/projects/diagnostic_station/station/test_encoders.c | ||
|---|---|---|
| 7 | 7 |
#define on_delay 500 |
| 8 | 8 |
#define off_delay 800 |
| 9 | 9 |
|
| 10 |
static char *direction_string (uint8_t direction) |
|
| 11 |
{
|
|
| 12 |
if (direction==direction_forward) |
|
| 13 |
return "forward"; |
|
| 14 |
else if (direction==BACKWARD) |
|
| 15 |
return "backward"; |
|
| 16 |
else |
|
| 17 |
return "?"; |
|
| 18 |
} |
|
| 19 |
|
|
| 20 | 10 |
static void test_encoders_direction (uint8_t direction1, uint8_t direction2) |
| 21 | 11 |
{
|
| 22 | 12 |
// reset_encoders (); |
| ... | ... | |
| 46 | 36 |
// Send data |
| 47 | 37 |
for (uint8_t i=1; i<=2; ++i) |
| 48 | 38 |
{
|
| 49 |
usb_puts ("data encoder ");
|
|
| 50 |
usb_puti (i); |
|
| 51 |
usb_puts (" ");
|
|
| 52 |
usb_puts (direction_string (i==1?direction1:direction2)); |
|
| 53 |
usb_puts (" 100/100 200/200 300/300 400/400 500/500 600/600 700/700" NL);
|
|
| 39 |
uint8_t direction=(i==1)?direction1:direction2; |
|
| 40 |
|
|
| 41 |
if (direction!=motor_direction_off) |
|
| 42 |
{
|
|
| 43 |
usb_puts ("data encoder ");
|
|
| 44 |
usb_puti (i); |
|
| 45 |
usb_puts (" ");
|
|
| 46 |
usb_puts (motor_direction_string (direction)); |
|
| 47 |
usb_puts (" 100/100 200/200 300/300 400/400 500/500 600/600 700/700" NL);
|
|
| 48 |
} |
|
| 54 | 49 |
} |
| 55 | 50 |
} |
| 56 | 51 |
|
| ... | ... | |
| 58 | 53 |
{
|
| 59 | 54 |
usb_puts("# Testing encoders" NL);
|
| 60 | 55 |
|
| 61 |
test_encoders_direction (direction_forward, BACKWARD);
|
|
| 62 |
test_encoders_direction (BACKWARD, direction_forward);
|
|
| 56 |
test_encoders_direction (motor_direction_forward, motor_direction_backward);
|
|
| 57 |
test_encoders_direction (motor_direction_backward, motor_direction_forward);
|
|
| 63 | 58 |
|
| 64 | 59 |
usb_puts("# Testing encoders finished" NL);
|
| 65 | 60 |
} |
| 66 | 61 |
|
| 67 | 62 |
void test_encoder (uint8_t num) |
| 68 | 63 |
{
|
| 69 |
if (!(num==1 || num==2)) return; |
|
| 70 |
|
|
| 71 |
// TODO implement single encoder testing |
|
| 72 |
test_encoder_all (); |
|
| 64 |
if (num==1) |
|
| 65 |
{
|
|
| 66 |
test_encoders_direction (motor_direction_forward, motor_direction_off); |
|
| 67 |
test_encoders_direction (motor_direction_backward, motor_direction_off); |
|
| 68 |
} |
|
| 69 |
else if (num==2) |
|
| 70 |
{
|
|
| 71 |
test_encoders_direction (motor_direction_off, motor_direction_forward); |
|
| 72 |
test_encoders_direction (motor_direction_off, motor_direction_backward); |
|
| 73 |
} |
|
| 73 | 74 |
} |
| trunk/code/projects/diagnostic_station/station/comm_robot.h | ||
|---|---|---|
| 3 | 3 |
|
| 4 | 4 |
void comm_robot_init (void); |
| 5 | 5 |
|
| 6 |
char *motor_direction_string (uint8_t direction); |
|
| 6 | 7 |
|
| 7 | 8 |
void robot_set_orbs (uint8_t red1, uint8_t green1, uint8_t blue1, uint8_t red2, uint8_t green2, uint8_t blue2); |
| 8 | 9 |
void robot_set_motors (uint8_t direction1, uint8_t speed1, uint8_t direction2, uint8_t speed2); |
| ... | ... | |
| 11 | 12 |
char* robot_read_encoders (void); |
| 12 | 13 |
void robot_station_receive(char type, int source, unsigned char* packet, int length); |
| 13 | 14 |
|
| 14 |
#define direction_off 0 |
|
| 15 |
#define direction_forward 1 |
|
| 16 |
#define direction_backward 2 |
|
| 15 |
#define motor_direction_off 0
|
|
| 16 |
#define motor_direction_forward 1
|
|
| 17 |
#define motor_direction_backward 2
|
|
| 17 | 18 |
|
| 18 | 19 |
|
| 19 | 20 |
#endif |
| trunk/code/projects/diagnostic_station/station/hardware_wall.c | ||
|---|---|---|
| 5 | 5 |
// FIXME implement |
| 6 | 6 |
} |
| 7 | 7 |
|
| 8 |
char *wall_direction_string (uint8_t direction) |
|
| 9 |
{
|
|
| 10 |
if (direction==1) |
|
| 11 |
return "out"; |
|
| 12 |
else if (direction==2) |
|
| 13 |
return "in"; |
|
| 14 |
else |
|
| 15 |
return "?"; |
|
| 16 |
} |
|
| 17 |
|
|
| 8 | 18 |
void wall_set_position (uint16_t position) |
| 9 | 19 |
{
|
| 10 | 20 |
usb_puts ("# Moving wall to position ");
|
| trunk/code/projects/diagnostic_station/station/hardware_wall.h | ||
|---|---|---|
| 10 | 10 |
void wall_set_position (uint16_t position); |
| 11 | 11 |
uint16_t wall_get_position (void); |
| 12 | 12 |
|
| 13 |
char *wall_direction_string (uint8_t direction); |
|
| 13 | 14 |
|
| 15 |
|
|
| 14 | 16 |
#endif |
Also available in: Unified diff