Revision 1226
Robot/Station communication:
- Implemented timeouts
- Implemented command acknowledgement
| test_encoders.c | ||
|---|---|---|
| 50 | 50 |
int16_t *data_robot_l =malloc (num_measurements*sizeof (uint16_t)); |
| 51 | 51 |
int16_t *data_robot_r =malloc (num_measurements*sizeof (uint16_t)); |
| 52 | 52 |
- usb_puts ("# Resetting encoders");
|
| 53 |
usb_puts ("# Resetting encoders" NL);
|
|
| 53 | 54 |
encoders_reset (); |
| 54 | 55 |
robot_reset_encoders (); |
| 55 | 56 |
|
| ... | ... | |
| 58 | 58 |
{
|
| 59 | 59 |
robot_set_motors (direction1, velocity, direction2, velocity); |
| 60 | 60 |
delay_ms (on_delay); |
| 61 |
|
|
| 62 | 61 |
robot_set_motors_off (); |
| 63 | 62 |
delay_ms (off_delay); |
| 64 | 63 |
|
| 65 |
// TODO use the robot_set_motors_time function, but wait for completion |
|
| 66 |
// message from robot |
|
| 67 |
|
|
| 68 |
// TODO instead of waiting a fixed time, wait until the wheels |
|
| 69 |
// are not moving any more, using the station's encoders. |
|
| 70 |
|
|
| 71 | 64 |
// Read the station encoders |
| 72 | 65 |
encoders_read (&(data_station_l[m]), &(data_station_r[m])); |
| 73 | 66 |
|
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