Revision 1305
Tweaked motors and encoders test parameters
| trunk/code/projects/diagnostic_station/station/dump_robot.c | ||
|---|---|---|
| 20 | 20 |
usb_puts ("Left: "); usb_puti (left ); usb_puts (NL);
|
| 21 | 21 |
usb_puts ("Right: "); usb_puti (right); usb_puts (NL);
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| 22 | 22 |
usb_puts (NL NL); |
| 23 |
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| 24 |
delay_ms (50); |
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| 23 | 25 |
} |
| 24 | 26 |
} |
| 25 | 27 |
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| trunk/code/projects/diagnostic_station/station/test_motors.c | ||
|---|---|---|
| 39 | 39 |
// ** Internal functions ** |
| 40 | 40 |
// ************************ |
| 41 | 41 |
|
| 42 |
#define velocity_steady_delay 400 |
|
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// One way to do it |
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| 43 |
// #define vel_inc 10 |
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| 44 |
// #define vel_steps 12 |
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// #define vel_min 140 |
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| 46 |
// #define vel_max 250 |
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| 47 |
// #define velocity_steady_delay 400 |
|
| 43 | 48 |
|
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// More steps at smaller intervals. We don't need so much delay here. |
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| 50 |
#define vel_inc 2 |
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#define vel_steps 56 |
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#define vel_min 140 |
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#define vel_max 250 |
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#define velocity_steady_delay 50 |
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| 55 |
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| 44 | 57 |
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) |
| 45 | 58 |
{
|
| 46 | 59 |
// Allocate space for the data on the stack |
| ... | ... | |
| 89 | 102 |
// vel_min is also reached twice, once at the beginning of accelerating and once at the end of decelerating, and |
| 90 | 103 |
// this one is important. |
| 91 | 104 |
|
| 92 |
#define vel_inc 10 |
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| 93 |
#define vel_steps 12 |
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#define vel_min 140 |
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#define vel_max 250 |
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| 97 | 105 |
test_motors_direction_acceleration (direction1, direction2, vel_min, vel_steps, vel_inc, "increasing"); |
| 98 | 106 |
test_motors_direction_acceleration (direction1, direction2, vel_max, vel_steps, -vel_inc, "decreasing"); |
| 99 | 107 |
} |
| trunk/code/projects/diagnostic_station/station/test_encoders.c | ||
|---|---|---|
| 60 | 60 |
|
| 61 | 61 |
// Read the robot encoders |
| 62 | 62 |
robot_read_encoders (&(data_robot_l[m]), &(data_robot_r[m])); |
| 63 |
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//usb_puts ("# I readed teh encoders: ");
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//usb_puti (data_robot_l[m]); |
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//usb_puts (" ");
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//usb_puti (data_robot_r[m]); |
|
| 68 |
//usb_puts (NL); |
|
| 69 |
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| 63 | 70 |
} |
| 64 | 71 |
|
| 65 | 72 |
send_encoder_data (0, direction1, data_station_l, data_robot_l, num_measurements); |
| ... | ... | |
| 76 | 83 |
// ** Public functions ** |
| 77 | 84 |
// ********************** |
| 78 | 85 |
|
| 79 |
#define NUM 4 |
|
| 86 |
// Encoder readings seem to be unreliable with these values (on too long?) |
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//#define NUM 4 |
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//#define VEL 200 |
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//#define ON_DELAY 500 |
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//#define OFF_DELAY 800 |
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// Testing values |
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#define NUM 8 |
|
| 80 | 94 |
#define VEL 200 |
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#define ON_DELAY 500
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#define OFF_DELAY 800
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| 95 |
#define ON_DELAY 150
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#define OFF_DELAY 400
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| 83 | 97 |
|
| 84 | 98 |
void test_encoder_all (void) |
| 85 | 99 |
{
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