Colony

/**

 * @file encoders unit test

 */

#include "serial.h"

#include "time.h"

#include "dio.h"

#include "encoders.h"

/**

 * @brief Test encoders by outputting values to usb

 *

 * @test  Tester should start a program to read data from the robot via usb

 *        (e.g. gtkterm). Turn on the robot on then turn each wheel manually.

 *        Make sure the output on the screen makes sense.

 *        Pressing button 1 resets total distance and time count

 * @pre   Depends on serial and dio to work correctly

 */

int testencoders(void)

{

        usb_init();

        encoders_init();

        int encoder_left,encoder_right;

        int x_left, x_right;

        int v_left, v_right;

        int tc;

        while(1) {

                /* button1 is pressed */

                if (button1_read()) {

                        /* reset dx and tc */

                        encoder_rst_dx(LEFT);

                        encoder_rst_dx(RIGHT);

                        encoder_rst_tc();

                }

                encoder_left = encoder_read(LEFT);

                encoder_right = encoder_read(RIGHT);

                usb_puts("Encoder values (left, right): ");

                usb_puti(encoder_left); 

                usb_puts(", ");

                usb_puti(encoder_right); 

                usb_puts("\n");

                x_left = encoder_get_x(LEFT);

                x_right = encoder_get_x(RIGHT);

                usb_puts("Total Distance (left, right): ");

                usb_puti(x_left);

                usb_puts(", ");

                usb_puti(x_right);

                usb_puts("\n");

                v_left = encoder_get_v(LEFT);

                v_right = encoder_get_v(RIGHT);

                usb_puts("Velocity (left, right): ");

                usb_puti(v_left);

                usb_puts(", ");

                usb_puti(v_right);

                usb_puts("\n");

                tc = encoder_get_tc();

                usb_puts("Time count: ");

                usb_puti(tc);

                usb_puts("\n\r");

                delay_ms(500);

        }

        return 0;

}