root / trunk / code / projects / test / test_motors.c @ 1439
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1 | 958 | cmar | #include <dragonfly_lib.h> |
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2 | |||
3 | 1369 | emullini | #define OFF 140 |
4 | #define SLOW 160 |
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5 | #define GO 220 |
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6 | |||
7 | 958 | cmar | int testmotors(void) { |
8 | //usb_init();
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9 | 1369 | emullini | //usb_puts("usb turned on\n");
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10 | |||
11 | //forward
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12 | orb_set_color(RED); |
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13 | 1402 | emullini | motors_off(); |
14 | 1369 | emullini | delay_ms(3000);
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15 | orb_set_color(YELLOW); |
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16 | 1413 | emullini | motor_l_set(1, SLOW);
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17 | motor_r_set(1, SLOW);
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18 | 1369 | emullini | delay_ms(3000);
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19 | orb_set_color(GREEN); |
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20 | 1413 | emullini | motor_l_set(1, GO);
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21 | motor_r_set(1, GO);
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22 | 1369 | emullini | delay_ms(3000);
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23 | |||
24 | //backward
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25 | orb_set_color(RED); |
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26 | 1402 | emullini | motors_off(); |
27 | 1369 | emullini | delay_ms(3000);
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28 | orb_set_color(YELLOW); |
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29 | 1413 | emullini | motor_l_set(0, SLOW);
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30 | motor_r_set(0, SLOW);
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31 | 1369 | emullini | delay_ms(3000);
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32 | orb_set_color(GREEN); |
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33 | 1413 | emullini | motor_l_set(0, GO);
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34 | motor_r_set(0, GO);
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35 | 1369 | emullini | delay_ms(3000);
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36 | |||
37 | //spin
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38 | orb_set_color(RED); |
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39 | 1402 | emullini | motors_off(); |
40 | 1369 | emullini | delay_ms(3000);
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41 | orb_set_color(YELLOW); |
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42 | 1413 | emullini | motor_l_set(1, SLOW);
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43 | motor_r_set(0, SLOW);
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44 | 1369 | emullini | delay_ms(3000);
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45 | orb_set_color(GREEN); |
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46 | 1413 | emullini | motor_l_set(1, GO);
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47 | motor_r_set(0, GO);
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48 | 1369 | emullini | delay_ms(3000);
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49 | |||
50 | //spin other way
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51 | orb_set_color(RED); |
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52 | 1402 | emullini | motors_off(); |
53 | 1369 | emullini | delay_ms(3000);
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54 | orb_set_color(YELLOW); |
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55 | 1413 | emullini | motor_l_set(0, SLOW);
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56 | motor_r_set(1, SLOW);
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57 | 1369 | emullini | delay_ms(3000);
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58 | orb_set_color(GREEN); |
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59 | 1413 | emullini | motor_l_set(0, GO);
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60 | motor_r_set(1, GO);
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61 | 1369 | emullini | delay_ms(3000);
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62 | //while(1){;}
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63 | 958 | cmar | |
64 | return 0; |
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65 | } |
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66 | |||
67 | |||
68 | 1369 | emullini | /*test data
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69 | left >154 forward
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70 | right >150 forward
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71 | both >152 backward
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72 | */ |