Revision 1212
Finished the bom test (calling the not-finished hardware functions for now)
| trunk/code/projects/diagnostic_station/station/test_bom.c | ||
|---|---|---|
| 1 | 1 |
#include "test_bom.h" |
| 2 | 2 |
#include "global.h" |
| 3 | 3 |
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#include "hardware_turntable.h" |
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#include "hardware_rbom.h" |
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#include "comm_robot.h" |
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static uint16_t bom_emitter_position (uint8_t num) |
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{
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switch (num) |
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{
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case 0: return 100; break; |
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case 1: return 200; break; |
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case 2: return 300; break; |
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case 3: return 400; break; |
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case 4: return 500; break; |
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case 5: return 600; break; |
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case 6: return 700; break; |
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case 7: return 800; break; |
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case 8: return 900; break; |
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case 9: return 1000; break; |
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case 10: return 1100; break; |
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case 11: return 1200; break; |
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case 12: return 1300; break; |
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case 13: return 1400; break; |
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case 14: return 1500; break; |
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case 15: return 1600; break; |
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default: return 0; break; |
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} |
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} |
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|
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static uint16_t bom_detector_position (uint8_t num) |
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{
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return bom_emitter_position (num)-50; |
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} |
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|
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void test_bom_bitmask (uint16_t emitter_bitmask, uint16_t detector_bitmask) |
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{
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usb_puts("# Testing BOM" NL);
|
| ... | ... | |
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{
|
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if (emitter_bitmask&1) |
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{
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uint16_t values[4]; |
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|
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usb_puts("# Testing BOM emitter ");
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usb_puti(n); |
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usb_puts(NL); |
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// rotate (emitter position) |
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// send (turn on only light i) |
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// wait (done) |
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// read values |
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// send (turn off lights) |
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// wait (done) |
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//send data |
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usb_puts ("data bom emitter ");
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usb_puti (n); |
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usb_puts (" 1 2 3 4");
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turntable_rotate_to_position (bom_emitter_position (n)); |
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robot_set_bom (1<<n); // TODO check: wait until done |
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|
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rbom_update (); |
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#define N 0 |
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#define E 1 |
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#define S 2 |
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#define W 3 |
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values[N]=rbom_read (RBOM_SENSOR_N); |
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values[E]=rbom_read (RBOM_SENSOR_E); |
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values[S]=rbom_read (RBOM_SENSOR_S); |
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values[W]=rbom_read (RBOM_SENSOR_W); |
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|
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robot_set_bom (0); // TODO check: wait until done |
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// Send data |
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usb_puts ("data bom emitter");
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usb_puts (" N/"); usb_puti (values[N]);
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usb_puts (" E/"); usb_puti (values[E]);
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usb_puts (" S/"); usb_puti (values[S]);
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usb_puts (" W/"); usb_puti (values[W]);
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#undef N |
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#undef E |
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#undef S |
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#undef W |
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usb_puts (NL); |
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} |
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|
| ... | ... | |
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usb_puts("# Testing BOM detector ");
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usb_puti(n); |
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usb_puts(NL); |
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// rotate (detector position) |
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// |
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// turn light on |
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// send (read data) |
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// receive (data) |
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// turn lights off |
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// send (read data) |
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// receive (data) |
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//send data |
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turntable_rotate_to_position (bom_detector_position (n)); |
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rbom_set (true); |
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uint16_t on_value=robot_read_bom (n); |
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rbom_set (false); |
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uint16_t off_value=robot_read_bom (n); |
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// Send data |
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usb_puts ("data bom detector ");
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usb_puti (n); |
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usb_puts (" 1");
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usb_puts (" on/");
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usb_puti (on_value); |
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usb_puts (" off/");
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usb_puti (off_value); |
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usb_puts (NL); |
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} |
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// turn lights off |
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} |
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usb_puts("# Testing BOM finished" NL);
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} |
| trunk/code/projects/diagnostic_station/station/hardware_turntable.c | ||
|---|---|---|
| 7 | 7 |
|
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void turntable_rotate_to_position (uint16_t position) |
| 9 | 9 |
{
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usb_puts ("# Rotating to position ");
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usb_puts ("# Turntable rotating to ");
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usb_puti (position); |
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usb_puts (NL); |
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// FIXME implement |
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usb_puts ("# Robot position reached");
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usb_puts ("# Turntable position reached" NL);
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} |
| 18 | 18 |
|
| trunk/code/projects/diagnostic_station/station/hardware_turntable.h | ||
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| 5 | 5 |
#include "global.h" |
| 6 | 6 |
|
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void turntable_init (void); |
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void turntable_rotate_to_position (uint16_t position); |
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|
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#endif |
| trunk/code/projects/diagnostic_station/station/comm_robot.c | ||
|---|---|---|
| 127 | 127 |
return data_received; |
| 128 | 128 |
} |
| 129 | 129 |
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uint16_t robot_read_bom (uint8_t num) |
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{
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// FIXME implement |
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return 0; |
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} |
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void receive_encoders(int* data, int length){
|
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((int*)data_received)[0] = data[0]; |
| 132 | 139 |
((int*)data_received)[1] = data[1]; |
| trunk/code/projects/diagnostic_station/station/comm_robot.h | ||
|---|---|---|
| 9 | 9 |
void robot_set_motors (uint8_t direction1, uint8_t speed1, uint8_t direction2, uint8_t speed2); |
| 10 | 10 |
void robot_set_motors_off (void); |
| 11 | 11 |
void robot_set_bom (uint16_t bitmask); |
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char* robot_read_encoders (void); |
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uint16_t robot_read_bom (uint8_t num); |
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|
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void robot_station_receive(char type, int source, unsigned char* packet, int length); |
| 14 | 17 |
|
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#define motor_direction_off 0 |
| trunk/code/projects/diagnostic_station/station/hardware_rbom.h | ||
|---|---|---|
| 8 | 8 |
* Inverse BOM sensor macros for (N)orth, |
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* (S)outh, (E)ast, and (W)est positions. |
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*/ |
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#define N_SENSOR AN3
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#define E_SENSOR AN4
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#define S_SENSOR AN5
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#define W_SENSOR AN6
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#define RBOM_SENSOR_N AN3
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#define RBOM_SENSOR_E AN4
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#define RBOM_SENSOR_S AN5
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#define RBOM_SENSOR_W AN6
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void rbom_init (void); |
| 17 | 17 |
|
| trunk/code/projects/diagnostic_station/station/comm_server.c | ||
|---|---|---|
| 214 | 214 |
|
| 215 | 215 |
static void handle_message_start_test_bom (char *buffer) |
| 216 | 216 |
{
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// TODO: handle start_test bom _emitter/detector_ all/num |
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| 217 | 218 |
handle_message_start_test_component (buffer, test_bom_all_helper, test_bom_helper); |
| 218 | 219 |
} |
| 219 | 220 |
|
| ... | ... | |
| 305 | 306 |
// ## Main loop ## |
| 306 | 307 |
// ############### |
| 307 | 308 |
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static void ready () |
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static void ready (void)
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{
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usb_puts ("# Ready" NL);
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} |
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