Revision 1205
Implemented single encoder testing
Cleaned up motor direction/wall direction naming
| 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 |
} |
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