Revision 1244
Added interactive dump modes
Changed RBOM detector number and names
test_bom.c | ||
---|---|---|
43 | 43 |
{ |
44 | 44 |
if (emitter_bitmask&1) |
45 | 45 |
{ |
46 |
uint16_t values[4];
|
|
46 |
uint16_t values[3];
|
|
47 | 47 |
|
48 | 48 |
usb_puts("# Testing BOM emitter "); |
49 | 49 |
usb_puti(n); |
... | ... | |
53 | 53 |
robot_set_bom (1<<n); |
54 | 54 |
|
55 | 55 |
rbom_update (); |
56 |
#define N 0 |
|
57 |
#define E 1 |
|
58 |
#define S 2 |
|
59 |
#define W 3 |
|
60 |
values[N]=rbom_read (RBOM_SENSOR_N); |
|
61 |
values[E]=rbom_read (RBOM_SENSOR_E); |
|
62 |
values[S]=rbom_read (RBOM_SENSOR_S); |
|
63 |
values[W]=rbom_read (RBOM_SENSOR_W); |
|
56 |
#define TOP 0 |
|
57 |
#define LEFT 1 |
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58 |
#define RIGHT 2 |
|
59 |
rbom_read (&values[TOP], &values[LEFT], &values[RIGHT]); |
|
64 | 60 |
|
65 | 61 |
robot_set_bom (0); |
66 | 62 |
|
67 | 63 |
// Send data |
68 | 64 |
usb_puts ("data bom emitter"); |
69 |
usb_puts (" N/"); usb_puti (values[N]); |
|
70 |
usb_puts (" E/"); usb_puti (values[E]); |
|
71 |
usb_puts (" S/"); usb_puti (values[S]); |
|
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usb_puts (" W/"); usb_puti (values[W]); |
|
73 |
#undef N |
|
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#undef E |
|
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#undef S |
|
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#undef W |
|
65 |
usb_puts (" top/" ); usb_puti (values[TOP ]); |
|
66 |
usb_puts (" left/" ); usb_puti (values[LEFT ]); |
|
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usb_puts (" right/"); usb_puti (values[RIGHT]); |
|
68 |
#undef TOP |
|
69 |
#undef LEFT |
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70 |
#undef RIGHT |
|
77 | 71 |
usb_puts (NL); |
78 | 72 |
} |
79 | 73 |
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