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Revision 1318

Added by Brad Neuman almost 15 years ago

Martin updated some of the tests
test_motors is working with higher resolution
test_encoders is not working

View differences:

test_encoders.c
39 39 
static void test_encoders_direction (uint8_t direction1, uint8_t direction2, uint8_t num_measurements, uint8_t velocity, uint16_t on_delay, uint16_t off_delay)
40 40 
{
41 41 
	// Allocate space for the data on the stack
42 
	int16_t *data_station_l  =malloc (num_measurements*sizeof (uint16_t));
43 
	int16_t *data_station_r  =malloc (num_measurements*sizeof (uint16_t));
44 
	int16_t *data_robot_l    =malloc (num_measurements*sizeof (uint16_t));
45 
	int16_t *data_robot_r    =malloc (num_measurements*sizeof (uint16_t));
46 
+	// Seems like we've got a stack overflow...see test_motors.c
42 
//	int16_t *data_station_l  =malloc (num_measurements*sizeof (uint16_t));
43 
//	int16_t *data_station_r  =malloc (num_measurements*sizeof (uint16_t));
44 
//	int16_t *data_robot_l    =malloc (num_measurements*sizeof (uint16_t));
45 
//	int16_t *data_robot_r    =malloc (num_measurements*sizeof (uint16_t));
47 46 
	usb_puts ("# Resetting encoders" NL);
48 47 
	dynamos_reset ();
49 48 
	robot_reset_encoders ();
49 

  		




  
  50
  
    
	int16_t station_l=11, station_r=22, robot_l=33, robot_r=44;


  		




  50
  51
  
    
	


  		




  51
  52
  
    
	for (uint8_t m=0; m<num_measurements; ++m)


  		




  52
  53
  
    
	{


  		




  ......




  56
  58
  
    
		delay_ms (off_delay);


  		




  57
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  58
  60
  
    
		// Read the station dynamos


  		




  59
  
  
    
		dynamos_read (&(data_station_l[m]), &(data_station_r[m]));


  		




  
  61
  
    
		dynamos_read (&station_l, &station_r);


  		




  
  62
  
    
//		data_station_l[m]=station_l;


  		




  
  63
  
    
//		data_station_r[m]=station_r;


  		




  60
  64
  
    
		


  		




  61
  65
  
    
		// Read the robot encoders


  		




  62
  
  
    
		robot_read_encoders (&(data_robot_l[m]), &(data_robot_r[m]));


  		




  
  66
  
    
		robot_read_encoders (&robot_l, &robot_r);


  		




  
  67
  
    
//		data_robot_l[m]=robot_l;


  		




  
  68
  
    
//		data_robot_r[m]=robot_r;


  		




  63
  69
  
    
		


  		




  64
  70
  
    
		//usb_puts ("# I readed teh encoders: ");


  		




  65
  71
  
    
		//usb_puti (data_robot_l[m]);


  		




  ......




  67
  73
  
    
		//usb_puti (data_robot_r[m]);


  		




  68
  74
  
    
		//usb_puts (NL);


  		




  69
  75
  
    

  		




  
  76
  
    
	send_encoder_data (0, direction1, &station_l, &robot_l, 1);


  		




  
  77
  
    
	send_encoder_data (1, direction2, &station_r, &robot_r, 1);


  		




  70
  78
  
    
	}


  		




  71
  79
  
    

  		




  72
  
  
    
	send_encoder_data (0, direction1, data_station_l, data_robot_l, num_measurements);


  		




  73
  
  
    
	send_encoder_data (1, direction2, data_station_r, data_robot_r, num_measurements);


  		




  
  80
  
    
//	send_encoder_data (0, direction1, data_station_l, data_robot_l, num_measurements);


  		




  
  81
  
    
//	send_encoder_data (1, direction2, data_station_r, data_robot_r, num_measurements);


  		




  74
  82
  
    
	


  		




  75
  
  
    
	free (data_robot_r);


  		




  76
  
  
    
	free (data_robot_l);


  		




  77
  
  
    
	free (data_station_r);


  		




  78
  
  
    
	free (data_station_l);


  		




  
  83
  
    
//	free (data_robot_r);


  		




  
  84
  
    
//	free (data_robot_l);


  		




  
  85
  
    
//	free (data_station_r);


  		




  
  86
  
    
//	free (data_station_l);


  		




  79
  87
  
    
}


  		




  80
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  81
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