Revision 1389
Encoders unit test
| test_encoders.c | ||
|---|---|---|
| 1 |
#include <dragonfly_lib.h> |
|
| 2 |
#include "spi.h" |
|
| 1 |
/** |
|
| 2 |
* @file encoders unit test |
|
| 3 |
*/ |
|
| 4 |
#include "serial.h" |
|
| 5 |
#include "time.h" |
|
| 6 |
#include "dio.h" |
|
| 3 | 7 |
#include "encoders.h" |
| 4 | 8 |
|
| 5 |
#define MODE 0 |
|
| 6 |
#define TEST 0 |
|
| 9 |
/** |
|
| 10 |
* @brief Test encoders by outputting values to usb |
|
| 11 |
* |
|
| 12 |
* @test Tester should start a program to read data from the robot via usb |
|
| 13 |
* (e.g. gtkterm). Turn on the robot on then turn each wheel manually. |
|
| 14 |
* Make sure the output on the screen makes sense. |
|
| 15 |
* Pressing button 1 resets total distance and time count |
|
| 16 |
* @pre Depends on serial and dio to work correctly |
|
| 17 |
*/ |
|
| 7 | 18 |
|
| 8 |
extern char spi_status; |
|
| 9 |
|
|
| 10 | 19 |
int testencoders(void) |
| 11 | 20 |
{
|
| 12 | 21 |
usb_init(); |
| 13 | 22 |
encoders_init(); |
| 14 | 23 |
int encoder_left,encoder_right; |
| 15 |
while(1){
|
|
| 16 |
|
|
| 24 |
int dx_left, dx_right; |
|
| 25 |
int tc; |
|
| 26 |
while(1) {
|
|
| 27 |
/* button1 is pressed */ |
|
| 28 |
if (button1_read()) {
|
|
| 29 |
/* reset dx and tc */ |
|
| 30 |
encoder_rst_dx(LEFT); |
|
| 31 |
encoder_rst_dx(RIGHT); |
|
| 32 |
encoder_rst_tc(); |
|
| 33 |
} |
|
| 34 |
|
|
| 17 | 35 |
encoder_left = encoder_read(LEFT); |
| 18 | 36 |
encoder_right = encoder_read(RIGHT); |
| 19 | 37 |
usb_puts("Encoder values (left, right): ");
|
| 20 | 38 |
usb_puti(encoder_left); |
| 21 | 39 |
usb_puts(", ");
|
| 22 | 40 |
usb_puti(encoder_right); |
| 41 |
usb_puts("\n");
|
|
| 42 |
|
|
| 43 |
dx_left = encoder_get_dx(LEFT); |
|
| 44 |
dx_right = encoder_get_dx(RIGHT); |
|
| 45 |
usb_puts("Total Distance (left, right): ");
|
|
| 46 |
usb_puti(dx_left); |
|
| 47 |
usb_puts(", ");
|
|
| 48 |
usb_puti(dx_right); |
|
| 49 |
usb_puts("\n");
|
|
| 50 |
|
|
| 51 |
tc = encoder_get_tc(); |
|
| 52 |
usb_puts("Time count: ");
|
|
| 53 |
usb_puti(tc); |
|
| 23 | 54 |
usb_puts("\n\r");
|
| 55 |
|
|
| 24 | 56 |
delay_ms(500); |
| 25 | 57 |
} |
| 26 | 58 |
return 0; |
Also available in: Unified diff