Revision 1414
Changed rangefinder unit test to use all orbs and not take forever.
| test_rangefinder.c | ||
|---|---|---|
| 9 | 9 |
**/ |
| 10 | 10 |
|
| 11 | 11 |
/* Testing Procedure |
| 12 |
* - Position robot facing you |
|
| 13 |
* - Move hand in front of IR2 |
|
| 12 |
* - Place hand in front of orbs in 4, 3, 2, 1, 5 order |
|
| 14 | 13 |
* - Observe orbs |
| 15 | 14 |
* |
| 16 | 15 |
* Expected Behavior: |
| 17 | 16 |
* - Orbs flash BLUE 3 times to signal start of test |
| 18 | 17 |
* - During test |
| 19 |
* - Orbs are GREEN when hand is at visible distance |
|
| 20 |
* - Orbs are RED when hand is too close or too far to see |
|
| 21 |
* - Orbs are never YELLOW |
|
| 18 |
* - Orb 1 changes to reflect which sensor is under test |
|
| 19 |
* - Orb 2 stays RED until that sensor gets a usable reading, i.e. within visible distance |
|
| 22 | 20 |
* - Orbs flash PURPLE 3 times to signal end of test |
| 23 | 21 |
*/ |
| 24 | 22 |
|
| 25 | 23 |
#include <dragonfly_lib.h> |
| 26 | 24 |
|
| 27 |
#define TEST_TIME 10 // duration of test (in s)
|
|
| 25 |
#define TEST_TIME 500 // duration of success indicator (in ms)
|
|
| 28 | 26 |
#define ON_DELAY 500 // duration of flashes at beginning and end (in ms) |
| 29 | 27 |
#define OFF_DELAY 250 // delay between flashes at beginning and end (in ms) |
| 30 | 28 |
|
| 31 | 29 |
int testrangefinder() {
|
| 32 |
int start_time; // rtc time when test starts |
|
| 33 |
int distance; // rangefinder reading |
|
| 34 | 30 |
int i; // index |
| 31 |
int sensor[5] = {IR4, IR3, IR2, IR1, IR5};
|
|
| 32 |
int color[5] = {RED, ORANGE, YELLOW, GREEN, BLUE};
|
|
| 35 | 33 |
|
| 36 | 34 |
// flash orbs BLUE 3 times |
| 37 | 35 |
for (i = 0; i < 3; i++) {
|
| ... | ... | |
| 41 | 39 |
delay_ms(OFF_DELAY); |
| 42 | 40 |
} |
| 43 | 41 |
|
| 44 |
start_time = rtc_get(); // get test's start time |
|
| 42 |
for (i = 0; i < 5; i++) {
|
|
| 43 |
// indicate sensor under test |
|
| 44 |
orb2_set_color(color[i]); |
|
| 45 | 45 |
|
| 46 |
// orbs RED when IR2 reads -1 |
|
| 47 |
// orbs GREEN when IR2 gets a useable reading |
|
| 48 |
// times out after TEST_TIME elapsed |
|
| 49 |
while (1) {
|
|
| 50 |
distance = range_read_distance(IR5); |
|
| 51 |
// unusable reading |
|
| 52 |
if (distance == -1) |
|
| 53 |
orb_set_color(RED); |
|
| 54 |
// invalid reading |
|
| 55 |
else if (distance < 101 || distance > 800) |
|
| 56 |
orb_set_color(YELLOW); |
|
| 57 |
// useable reading |
|
| 58 |
else |
|
| 59 |
orb_set_color(GREEN); |
|
| 46 |
// wait for sensor interaction |
|
| 47 |
while (range_read_distance(sensor[i]) == -1) |
|
| 48 |
// stay RED until IR4 sees something |
|
| 49 |
orb1_set_color(RED); |
|
| 50 |
|
|
| 51 |
orb1_set_color(GREEN); |
|
| 52 |
delay_ms(TEST_TIME); |
|
| 60 | 53 |
} |
| 61 | 54 |
|
| 62 | 55 |
// flash orbs PURPLE 3 times |
Also available in: Unified diff