root / trunk / code / projects / diagnostic_station / station / dump_robot.c @ 1305
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1 | 1244 | deffi | #include "dump_robot.h" |
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2 | |||
3 | #include <dragonfly_lib.h> |
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4 | |||
5 | #include "global.h" |
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6 | #include "comm_robot.h" |
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7 | |||
8 | |||
9 | void dump_robot_encoders (void) |
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10 | { |
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11 | int16_t left, right; |
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12 | char c;
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13 | |||
14 | 1293 | deffi | robot_reset_encoders (); |
15 | |||
16 | 1244 | deffi | while (usb_getc_nb (&c)==-1) |
17 | { |
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18 | robot_read_encoders (&left, &right); |
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19 | 1269 | deffi | |
20 | usb_puts ("Left: "); usb_puti (left ); usb_puts (NL);
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21 | usb_puts ("Right: "); usb_puti (right); usb_puts (NL);
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22 | usb_puts (NL NL); |
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23 | 1305 | deffi | |
24 | delay_ms (50);
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25 | 1244 | deffi | } |
26 | } |
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27 | 1246 | deffi | |
28 | void dump_robot_rangefinders (void) |
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29 | { |
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30 | 1269 | deffi | uint16_t rf[5];
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31 | 1246 | deffi | char c;
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32 | |||
33 | while (usb_getc_nb (&c)==-1) |
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34 | { |
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35 | 1269 | deffi | // First read all of the values, then print them, because it's much more readable that way.
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36 | |||
37 | 1246 | deffi | for (uint8_t i=0; i<5; ++i) |
38 | { |
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39 | 1269 | deffi | robot_read_rangefinder (i, &rf[i]); |
40 | 1246 | deffi | } |
41 | 1269 | deffi | |
42 | for (uint8_t i=0; i<5; ++i) |
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43 | { |
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44 | usb_puti (i); |
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45 | usb_puts (": ");
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46 | usb_puti (rf[i]); |
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47 | usb_puts (NL); |
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48 | } |
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49 | |||
50 | usb_puts (NL NL); |
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51 | 1246 | deffi | } |
52 | } |
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53 | |||
54 | void dump_robot_bom (void) |
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55 | { |
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56 | 1282 | deffi | int16_t bom[16];
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57 | 1246 | deffi | char c;
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58 | 1269 | deffi | |
59 | 1246 | deffi | while (usb_getc_nb (&c)==-1) |
60 | { |
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61 | 1269 | deffi | // First read all of the values, then print them, because it's much more readable that way.
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62 | |||
63 | 1282 | deffi | //for (uint8_t i=0; i<16; ++i)
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64 | //robot_read_bom (i, &bom[i]);
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65 | |||
66 | robot_read_bom_all (bom); |
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67 | 1269 | deffi | |
68 | for (uint8_t i=0; i<16; ++i) |
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69 | 1246 | deffi | { |
70 | 1269 | deffi | if (i<10) usb_puts (" "); |
71 | usb_puti (i); |
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72 | usb_puts (": ");
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73 | usb_puti (bom[i]); |
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74 | usb_puts (NL); |
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75 | 1246 | deffi | } |
76 | 1269 | deffi | usb_puts (NL NL); |
77 | 1246 | deffi | } |
78 | } |