Revision 1206
Fixed code duplication
| trunk/code/projects/diagnostic_station/station/test_motors.c | ||
|---|---|---|
| 24 | 24 |
// } |
| 25 | 25 |
} |
| 26 | 26 |
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| 27 |
static void test_motors_direction (uint8_t direction1, uint8_t direction2) |
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| 27 |
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#define acceleration_increasing 1 |
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#define acceleration_decreasing 2 |
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static void test_motors_direction_acceleration (uint8_t direction1, uint8_t direction2, uint8_t vel_start, uint8_t vel_end, int8_t vel_step) |
|
| 28 | 32 |
{
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| 29 | 33 |
// Use 16 bit variable for vel to avoid problems with overflow (if vel=250 and 10 is added, it would be 260-256=4 |
| 30 | 34 |
// which is still smaller than vel_max). There are more elegant solutions to this problem, but this one is |
| 31 | 35 |
// easy and performance is not an issue here anyway. |
| 36 |
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// Distinguish between start>=end/start<end because we have to use the corresponding stop condition. |
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if (vel_end>=vel_start) |
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for (uint16_t vel=vel_start; vel<=vel_end; vel+=vel_step) |
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test_motors_direction_velocity (direction1, direction2, vel); |
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else |
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for (uint16_t vel=vel_start; vel>=vel_end; vel+=vel_step) |
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test_motors_direction_velocity (direction1, direction2, vel); |
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| 32 | 44 |
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for (uint16_t vel=vel_min; vel<=vel_max; vel+=vel_inc) |
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test_motors_direction_velocity (direction1, direction2, vel); |
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// Send data |
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| 36 | 46 |
for (uint8_t i=1; i<=2; ++i) |
| 37 | 47 |
{
|
| ... | ... | |
| 44 | 54 |
usb_puti (i); |
| 45 | 55 |
usb_puts (" ");
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| 46 | 56 |
usb_puts (motor_direction_string (direction)); |
| 47 |
usb_puts (" increasing ");
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if (vel_end>vel_start) |
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usb_puts (" increasing ");
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else if (vel_end<vel_start) |
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usb_puts (" decreasing ");
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else |
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usb_puts (" constant ");
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| 64 |
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| 48 | 65 |
usb_puts (" 160/100 170/200 180/300 190/400 200/500 210/600 220/700" NL);
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| 49 | 66 |
} |
| 50 | 67 |
} |
| 68 |
} |
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| 51 | 69 |
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// TODO code duplication |
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for (uint16_t vel=vel_max; vel>=vel_min; vel-=vel_inc) |
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test_motors_direction_velocity (direction1, direction2, vel); |
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// Send data |
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for (uint8_t i=1; i<=2; ++i) |
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{
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uint8_t direction=(i==1)?direction1:direction2; |
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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 (i); |
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usb_puts (" ");
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usb_puts (motor_direction_string (direction)); |
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usb_puts (" decreasing ");
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usb_puts (" 220/700 210/600 200/500 190/400 180/300 170/200 160/100" NL);
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} |
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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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test_motors_direction_acceleration (direction1, direction2, vel_min, vel_max, vel_inc); |
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test_motors_direction_acceleration (direction1, direction2, vel_max, vel_min, -vel_inc); |
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| 74 | 74 |
} |
| 75 | 75 |
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| 76 | 76 |
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