Revision 1292
Implemented turntable positions in BOM test.
| trunk/code/projects/diagnostic_station/station/test_bom.c | ||
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| 7 | 7 |
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static uint16_t bom_emitter_position (uint8_t num) |
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{
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// 0 is the robot facing the station (BOM #4 aligned with IBOM). |
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// Positive is counter-clockwise on the bom (robot turning clockwise) |
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// The difference in angle between two positions. 1024 steps on a full turn, 16 emitters/detectors. |
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#define increment 1024/16 |
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switch (num) |
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{
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case 0: return 100; break;
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case 1: return 200; break;
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case 2: return 300; break;
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case 3: return 400; break;
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case 4: return 500; break;
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case 5: return 600; break;
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case 6: return 700; break;
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case 7: return 800; break;
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case 8: return 900; break;
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case 9: return 1000; break;
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case 10: return 1100; break;
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case 11: return 1200; break;
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case 12: return 1300; break;
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case 13: return 1400; break;
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case 14: return 1500; break;
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case 15: return 1600; break;
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case 0: return (-4)*increment; break;
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case 1: return (-3)*increment; break;
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case 2: return (-2)*increment; break;
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case 3: return (-1)*increment; break;
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case 4: return ( 0)*increment; break;
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case 5: return ( 1)*increment; break;
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case 6: return ( 2)*increment; break;
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case 7: return ( 3)*increment; break;
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case 8: return ( 4)*increment; break;
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case 9: return ( 5)*increment; break;
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case 10: return ( 6)*increment; break;
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case 11: return ( 7)*increment; break;
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case 12: return ( 8)*increment; break;
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case 13: return ( 9)*increment; break;
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case 14: return (10)*increment; break;
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case 15: return (11)*increment; break;
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default: return 0; break; |
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} |
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#undef increment |
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} |
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static uint16_t bom_detector_position (uint8_t num) |
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{
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return bom_emitter_position (num)-50; |
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// Austin sez: detectors and emitters are supposed to be parallel. |
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return bom_emitter_position (num); |
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} |
| 36 | 44 |
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