/ - Diff - Colony - Robotics Club

     #include "dump_station.h"
     #include "hardware.h"
     void dump_station_encoders (void)
+    {
     	int16_t left, right;
     	char c;
     	// TODO implement resetting the encoders (r key, for example)
     	while (usb_getc_nb (&c)==-1)
+    	{
     		encoders_read (&left, &right);
     		usb_puti (left);
     		usb_puts (" ");
     		usb_puti (right);
     		usb_puts (NL);
+    	}
+    }
     void dump_station_turntable (void)
+    {
     	uint16_t turntable;
     	char c;
     	while (usb_getc_nb (&c)==-1)
+    	{
     		turntable=turntable_get_position ();
     		usb_puti (turntable);
     		usb_puts (NL);
+    	}
+    }
     void dump_station_wall (void)
+    {
     	uint16_t wall;
     	char c;
     	while (usb_getc_nb (&c)==-1)
+    	{
     		wall=turntable_get_position ();
     		usb_puti (wall);
     		usb_puts (NL);
+    	}
+    }
     void dump_station_rbom (void)
+    {
     	uint16_t top, left, right;
     	char c;
     	// TODO implement resetting the encoders (r key, for example)
     	while (usb_getc_nb (&c)==-1)
+    	{
     		rbom_update ();
     		rbom_read (&top, &left, &right);
     		usb_puti (top);
     		usb_puts (" ");
     		usb_puti (left);
     		usb_puts (" ");
     		usb_puti (right);
     		usb_puts (NL);
+    	}
+    }

     #include "dump_robot.h"
     #include <dragonfly_lib.h>
     #include "global.h"
     #include "comm_robot.h"
     void dump_robot_encoders (void)
+    {
     	int16_t left, right;
     	char c;
     	// TODO implement resetting the encoders (r key, for example)
     	while (usb_getc_nb (&c)==-1)
+    	{
     		robot_read_encoders (&left, &right);
     		usb_puti (left);
     		usb_puts (" ");
     		usb_puti (right);
     		usb_puts (NL);
+    	}
+    }

     #ifndef _dump_station_h
     #define _dump_station_h
     void dump_station_encoders (void);
     void dump_station_turntable (void);
     void dump_station_wall (void);
     void dump_station_rbom (void);
     #endif

+    	{
     		if (emitter_bitmask&1)
+    		{
     			uint16_t values[4];
     			uint16_t values[3];
     			usb_puts("# Testing BOM emitter ");
     			usb_puti(n);
-...
     			robot_set_bom (1<<n);
     			rbom_update ();
     #define N 0
     #define E 1
     #define S 2
     #define W 3
     			values[N]=rbom_read (RBOM_SENSOR_N);
     			values[E]=rbom_read (RBOM_SENSOR_E);
     			values[S]=rbom_read (RBOM_SENSOR_S);
     			values[W]=rbom_read (RBOM_SENSOR_W);
     #define TOP 0
     #define LEFT 1
     #define RIGHT 2
     			rbom_read (&values[TOP], &values[LEFT], &values[RIGHT]);
     			robot_set_bom (0);
     			// Send data
     			usb_puts ("data bom emitter");
     			usb_puts (" N/"); usb_puti (values[N]);
     			usb_puts (" E/"); usb_puti (values[E]);
     			usb_puts (" S/"); usb_puti (values[S]);
     			usb_puts (" W/"); usb_puti (values[W]);
     #undef N
     #undef E
     #undef S
     #undef W
     			usb_puts (" top/"  ); usb_puti (values[TOP  ]);
     			usb_puts (" left/" ); usb_puti (values[LEFT ]);
     			usb_puts (" right/"); usb_puti (values[RIGHT]);
     #undef TOP
     #undef LEFT
     #undef RIGHT
     			usb_puts (NL);
+    		}

     	usb_puts ("# Turntable position reached" NL);
+    }
     uint16_t turntable_get_position (void)
+    {
     	// FIXME implement
     	return 42;
+    }

     #ifndef _dump_robot_h
     #define _dump_robot_h
     void dump_robot_encoders (void);
     #endif

trunk/code/projects/diagnostic_station/station/hardware_turntable.h
6	6
7	7	void turntable_init (void);
8	8	void turntable_rotate_to_position (uint16_t position);
	9	uint16_t turntable_get_position (void);
9	10
10	11	#endif

     #include "tests.h"
     #include "self_test.h"
     #include "dump_robot.h"
     #include "dump_station.h"
     #define ESC 27
     /*
-...
+    {
     	while (1)
+    	{
     		usb_puts ("# Station sensors menu: (e)ncoders" NL);
     		usb_puts ("# Station sensors menu: (e)ncoders, (w)all, (t)urntable, (r)bom" NL);
     		char choice = usb_getc ();
     		switch (choice) {
     			case 'e': case 'E': /*dump_station_encoders ()*/; break;
     			case 'e': case 'E': dump_station_encoders  (); break;
     			case 'w': case 'W': dump_station_wall      (); break;
     			case 't': case 'T': dump_station_turntable (); break;
     			case 'r': case 'R': dump_station_rbom      (); break;
     			case ESC: return;
     			default: break;
+    		}
-...
     		char choice = usb_getc ();
     		switch (choice) {
     			case 'e': case 'E': /*dump_robot_encoders ()*/; break;
     			case 'e': case 'E': dump_robot_encoders (); break;
     			case ESC: return;
     			default: break;
+    		}

trunk/code/projects/diagnostic_station/station/hardware_rbom.c
22	22	}
23	23	}
24	24
25		uint16_t rbom_read (uint8_t value)
	25	void rbom_read (uint16_t top, uint16_t left, uint16_t *right)
26	26	{
27	27	usb_puts ("# Reading RBOM" NL);
28	28	// FIXME implement
29	29
30		return 0;
	30	*top=0;
	31	*left=0;
	32	*right=0;
31	33	}
32	34
33	35	void rbom_update (void)

      * Inverse BOM sensor macros for (N)orth,
      * (S)outh, (E)ast, and (W)est positions.
      */
     #define RBOM_SENSOR_N AN3
     #define RBOM_SENSOR_E AN4
     #define RBOM_SENSOR_S AN5
     #define RBOM_SENSOR_W AN6
     // FIXME do it right
     #define RBOM_SENSOR_LEFT AN3
     #define RBOM_SENSOR_RIGHT AN4
     #define RBOM_SENSOR_TOP AN5
     //#define RBOM_SENSOR_ AN6
     void rbom_init (void);
     void rbom_set (bool on);
     uint16_t rbom_read (uint8_t value);
     void rbom_read (uint16_t *top, uint16_t *left, uint16_t *right);
     void rbom_update (void);
     void rbom_debug (void);

trunk/code/projects/diagnostic_station/robot/main.c
94	94	// Message acknowledging
95	95	// ***************************
96	96
97		static void send_done ()
	97	static void send_done (void)
98	98	{
99	99	wl_send_global_packet (robot_station_group, robot_station_done, NULL, 0, 0);
100	100	}

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