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Revision 1295

Added by Martin Herrmann almost 15 years ago

Parameters for encoder test as parameters

View differences:

trunk/code/projects/diagnostic_station/station/dump_station.c
9 9 

  		




  10
  10
  
    
	dynamos_reset ();


  		




  11
  11
  
    

  		




  12
  
  
    
	// TODO implement resetting the dynamos (r key, for example)


  		




  13
  
  
    
	


  		




  14
  12
  
    
	while (usb_getc_nb (&c)==-1)


  		




  15
  13
  
    
	{


  		




  16
  14
  
    
		dynamos_read (&left, &right);


  		












  

    
      trunk/code/projects/diagnostic_station/station/dump_robot.c
    
  





  13
  13
  
    

  		




  14
  14
  
    
	robot_reset_encoders ();


  		




  15
  15
  
    

  		




  16
  
  
    
	// TODO implement resetting the encoders (r key, for example)


  		




  17
  16
  
    
	while (usb_getc_nb (&c)==-1)


  		




  18
  17
  
    
	{


  		




  19
  18
  
    
		robot_read_encoders (&left, &right);


  		












  

    
      trunk/code/projects/diagnostic_station/station/test_encoders.c
    
  





  4
  4
  
    

  		




  5
  5
  
    
#include "hardware.h"


  		




  6
  6
  
    

  		




  7
  
  
    
// TODO as parameters


  		




  8
  
  
    
#define num_measurements 4


  		




  9
  
  
    
#define velocity 200


  		




  10
  
  
    
#define on_delay 500


  		




  11
  
  
    
#define off_delay 800


  		




  12
  
  
    

  		




  13
  7
  
    
// ******************


  		




  14
  8
  
    
// ** Data sending **


  		




  15
  9
  
    
// ******************


  		




  ......




  42
  36
  
    
// ** Internal functions **


  		




  43
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// ************************


  		




  44
  38
  
    

  		




  45
  
  
    
static void test_encoders_direction (uint8_t direction1, uint8_t direction2)


  		




  
  39
  
    
static void test_encoders_direction (uint8_t direction1, uint8_t direction2, uint8_t num_measurements, uint8_t velocity, uint8_t on_delay, uint8_t off_delay)


  		




  46
  40
  
    
{


  		




  47
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	// Allocate space for the data on the stack


  		




  48
  42
  
    
	int16_t *data_station_l  =malloc (num_measurements*sizeof (uint16_t));


  		




  ......




  82
  76
  
    
// ** Public functions **


  		




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// **********************


  		




  84
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  79
  
    
#define NUM 4


  		




  
  80
  
    
#define VEL 200


  		




  
  81
  
    
#define ON_DELAY 500


  		




  
  82
  
    
#define OFF_DELAY 800


  		




  
  83
  
    

  		




  85
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void test_encoder_all (void)


  		




  86
  85
  
    
{


  		




  87
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	usb_puts("# Testing encoders" NL);


  		




  88
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  89
  
  
    
	test_encoders_direction (motor_direction_forward, motor_direction_backward);


  		




  90
  
  
    
	test_encoders_direction (motor_direction_backward, motor_direction_forward);


  		




  
  88
  
    
	test_encoders_direction (motor_direction_forward , motor_direction_backward, NUM, VEL, ON_DLEAY, OFF_DELAY);


  		




  
  89
  
    
	test_encoders_direction (motor_direction_backward, motor_direction_forward , NUM, VEL, ON_DLEAY, OFF_DELAY);


  		




  91
  90
  
    

  		




  92
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	usb_puts("# Testing encoders finished" NL);


  		




  93
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}


  		




  ......




  96
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{


  		




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	if (num==1)


  		




  98
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	{


  		




  99
  
  
    
		test_encoders_direction (motor_direction_forward, motor_direction_off);


  		




  100
  
  
    
		test_encoders_direction (motor_direction_backward, motor_direction_off);


  		




  
  98
  
    
		test_encoders_direction (motor_direction_forward , motor_direction_off, NUM, VEL, ON_DLEAY, OFF_DELAY);


  		




  
  99
  
    
		test_encoders_direction (motor_direction_backward, motor_direction_off, NUM, VEL, ON_DLEAY, OFF_DELAY);


  		




  101
  100
  
    
	}


  		




  102
  101
  
    
	else if (num==2)


  		




  103
  102
  
    
	{


  		




  104
  
  
    
		test_encoders_direction (motor_direction_off, motor_direction_forward);


  		




  105
  
  
    
		test_encoders_direction (motor_direction_off, motor_direction_backward);


  		




  
  103
  
    
		test_encoders_direction (motor_direction_off, motor_direction_forward , NUM, VEL, ON_DLEAY, OFF_DELAY);


  		




  
  104
  
    
		test_encoders_direction (motor_direction_off, motor_direction_backward, NUM, VEL, ON_DLEAY, OFF_DELAY);


  		




  106
  105
  
    
	}


  		




  107
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}


  		












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