Revision 1251
| test_motors.c | ||
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#include "global.h" |
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#include "comm_robot.h" |
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#include "hardware_encoders.h"
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#include "hardware_dynamo.h"
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// ****************** |
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data_pwm[i]=pwm; |
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// Reset the encoders, wait some time, then read the encoders.
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// Nothing else should go between encoders_reset and encoders_read.
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// Reset the dynamos, wait some time, then read the dynamos.
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// Nothing else should go between dynamos_reset and dynamos_read.
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// Note that we are currently using busy waiting which will be totally wrong if there are any interrupts. |
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encoders_reset ();
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dynamos_reset ();
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delay_ms (500); |
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encoders_read (&(data_velocity_l[i]), &(data_velocity_r[i]));
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dynamos_read (&(data_velocity_l[i]), &(data_velocity_r[i]));
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// Velocity readings are encoder ticks per second.
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// Velocity readings are dynamo ticks per second.
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data_velocity_l[i]*=2; |
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data_velocity_r[i]*=2; |
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