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Revision 1250

Added by Martin Herrmann almost 15 years ago

Improved motors test

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test_motors.c
39 39 
// ** Internal functions **
40 40 
// ************************
41 41 

  		




  
  42
  
    
#define velocity_steady_delay 400


  		




  
  43
  
    

  		




  42
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static void test_motors_direction_acceleration (uint8_t direction1, uint8_t direction2, uint8_t pwm_start, uint8_t num_steps, int8_t pwm_step, char *acceleration_string)


  		




  43
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{


  		




  44
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	// Allocate space for the data on the stack


  		




  ......




  50
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	for (uint8_t i=0; i<num_steps; ++i)


  		




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	{


  		




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		robot_set_motors (direction1, pwm, direction2, pwm);


  		




  53
  
  
    
// TODO better


  		




  54
  
  
    
#define vel_delay 400


  		




  55
  
  
    
		delay_ms (vel_delay); // TODO wait steady


  		




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		// Wait some fixed time for the velocity to reach steady state. This could be improved.


  		




  
  57
  
    
		delay_ms (velocity_steady_delay);


  		




  
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		data_pwm[i]=pwm;


  		




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  61
  
    
		// Reset the encoders, wait some time, then read the encoders.


  		




  
  62
  
    
		// Nothing else should go between encoders_reset and encoders_read.


  		




  
  63
  
    
		// Note that we are currently using busy waiting which will be totally wrong if there are any interrupts.


  		




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		encoders_reset ();


  		




  60
  
  
    
		// TODO delay


  		




  
  65
  
    
		delay_ms (500);


  		




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		encoders_read (&(data_velocity_l[i]), &(data_velocity_r[i]));


  		




  
  67
  
    
		


  		




  
  68
  
    
		// Velocity readings are encoder ticks per second.


  		




  
  69
  
    
		data_velocity_l[i]*=2;


  		




  
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		data_velocity_r[i]*=2;


  		




  62
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		pwm+=pwm_step;


  		




  64
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	}


  		




  ......




  75
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static void test_motors_direction (uint8_t direction1, uint8_t direction2)


  		




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{


  		




  
  87
  
    
	// The following equation must be true: vel_min+(vel_steps-1)*vel_inc=vel_max


  		




  
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	// Note that we're setting vel_max twice, once going up and once going down. It's not important for vel_max, but


  		




  
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	// vel_min is also reached twice, once at the beginning of accelerating and once at the end of decelerating, and


  		




  
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	// this one is important.


  		




  
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	#define vel_inc 10


  		




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	#define vel_steps 10


  		




  
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	#define vel_steps 12


  		




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	#define vel_min 140


  		




  81
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	#define vel_max 250


  		




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