Revision 1212
Finished the bom test (calling the not-finished hardware functions for now)
| test_bom.c | ||
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| 1 | 1 |
#include "test_bom.h" |
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#include "global.h" |
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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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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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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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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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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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} |
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