root / trunk / code / projects / unit_tests / test_ir.c @ 1979
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| 1 | 1956 | azl | /*
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| 2 | * This test is for the old line following sensors formerly installed on
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| 3 | * bickles, which did not use a mux and have a different method of reading
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| 4 | * compared to the current line following sensors (the ones with the mux and
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| 5 | * the row of 8 IR emitters/recievers on the bottom of the robot).
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| 6 | *
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| 7 | * For a test that tests the new IR sensors, see test_linefollow.c
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| 8 | */
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| 9 | 1827 | bwasserm | #include <dragonfly_lib.h> |
| 10 | |||
| 11 | 1832 | dgurjar | #define TEST_PORT 3 |
| 12 | #define TEST_ALL 1 |
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| 13 | #define TEST_INDIV 0 |
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| 14 | |||
| 15 | 1827 | bwasserm | int testir(void) |
| 16 | {
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| 17 | 1832 | dgurjar | analog_init(0);
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| 18 | 1827 | bwasserm | int port;
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| 19 | 1837 | dgurjar | int ports[] = {13, 12, 3, 2, 9, 8, 1}; |
| 20 | 1832 | dgurjar | // analog_init(ADC_START);
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| 21 | // usb_puti(analog_loop_status());
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| 22 | |||
| 23 | if(TEST_ALL)
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| 24 | {
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| 25 | if(TEST_INDIV)
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| 26 | {
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| 27 | while(1) |
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| 28 | {
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| 29 | 1837 | dgurjar | for(port = 0; port <5; port++) |
| 30 | 1832 | dgurjar | {
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| 31 | usb_puti(analog_get10(ports[port])); |
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| 32 | usb_putc('\t');
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| 33 | } |
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| 34 | 1837 | dgurjar | |
| 35 | for(port = 5; port <7; port++) |
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| 36 | {
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| 37 | usb_puti(analog_get10(ports[port])); |
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| 38 | usb_putc('\t');
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| 39 | } |
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| 40 | 1832 | dgurjar | usb_putc('\n');
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| 41 | delay_ms(50);
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| 42 | } |
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| 43 | |||
| 44 | 1827 | bwasserm | } |
| 45 | 1832 | dgurjar | else
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| 46 | {
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| 47 | while(1) |
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| 48 | {
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| 49 | for(port = 0; port <= 6; port++) |
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| 50 | {
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| 51 | usb_puti(analog_get10(ports[port])); |
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| 52 | usb_putc('\t');
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| 53 | } |
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| 54 | usb_putc('\n');
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| 55 | delay_ms(50);
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| 56 | } |
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| 57 | } |
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| 58 | 1827 | bwasserm | } |
| 59 | 1832 | dgurjar | else
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| 60 | {
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| 61 | while(1) |
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| 62 | {
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| 63 | usb_puti(analog_get10(ports[TEST_PORT])); |
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| 64 | usb_putc('\n');
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| 65 | delay_ms(50);
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| 66 | } |
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| 67 | |||
| 68 | } |
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| 69 | |||
| 70 | 1827 | bwasserm | return 0; |
| 71 | 1832 | dgurjar | } |
| 72 | /*Mapping of IR sensor to port number:
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| 73 | Line following (L to R on robot):
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| 74 | 1: 5
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| 75 | 2: 4
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| 76 | 3: 3
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| 77 | 4: 2
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| 78 | 5: 9
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| 79 | |||
| 80 | Bar-code reading:
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| 81 | L: 8
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| 82 | R: 1
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| 83 | */ |