From 80b3da91dac28a5895a8cb9f0477a7008365dd56 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 1 Apr 2010 23:57:20 +0200 Subject: digital/io: wipe-out old robot code, closes #112 --- digital/io/src/test/common.host.c | 154 ---------------------------- digital/io/src/test/gutter/Makefile | 17 --- digital/io/src/test/gutter/main.c | 49 --------- digital/io/src/test/move/Makefile | 13 --- digital/io/src/test/move/main.c | 135 ------------------------ digital/io/src/test/testgetsamples/Makefile | 15 --- digital/io/src/test/testgetsamples/main.c | 89 ---------------- 7 files changed, 472 deletions(-) delete mode 100644 digital/io/src/test/common.host.c delete mode 100644 digital/io/src/test/gutter/Makefile delete mode 100644 digital/io/src/test/gutter/main.c delete mode 100644 digital/io/src/test/move/Makefile delete mode 100644 digital/io/src/test/move/main.c delete mode 100644 digital/io/src/test/testgetsamples/Makefile delete mode 100644 digital/io/src/test/testgetsamples/main.c (limited to 'digital/io/src/test') diff --git a/digital/io/src/test/common.host.c b/digital/io/src/test/common.host.c deleted file mode 100644 index c6586e58..00000000 --- a/digital/io/src/test/common.host.c +++ /dev/null @@ -1,154 +0,0 @@ -/* common.c */ -/* {{{ - * - * Copyright (C) 2008 Dufour Jérémy - * - * APBTeam: - * Web: http://apbteam.org/ - * Email: team AT apbteam DOT org - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * }}} */ - -#include "common.h" -#include "../giboulee.h" - -#include - -static uint16_t asserv_arm_position = 0; - -/* Yerk export */ -enum team_color_e bot_color = RED_TEAM; - -/* Define functions for debug */ -void -trap_setup_path_to_box (uint8_t box_id) -{ - printf ("[trap] Configure trap doors to open %d.\n", box_id); -} - -void -trap_close_rear_panel (void) -{ - printf ("[trap] Closing rear panel.\n"); -} - -void -trap_open_rear_panel (void) -{ - printf ("[trap] Opening rear panel.\n"); -} - -void -asserv_move_linearly (int32_t distance) -{ - printf ("[asserv] Make the bot move linearly of %d mm.\n", distance); -} - -void -asserv_move_arm (uint16_t position, uint8_t speed) -{ - asserv_arm_position += position; - printf ("[asserv] Move arm at %d (speed: %d).\n", - asserv_arm_position, speed); -} - -void -asserv_close_input_hole (void) -{ - printf ("[asserv] Put the arm in front of the input hole.\n"); - asserv_move_arm (asserv_arm_position % - BOT_ARM_THIRD_ROUND, BOT_ARM_SPEED); -} - -uint16_t -asserv_get_arm_position (void) -{ - return asserv_arm_position; -} - -void -asserv_arm_set_position_reached (uint16_t position) -{ - printf ("[asserv] Arm notifier at position %d (we are at %d).\n", - position, asserv_arm_position); -} - -void -asserv_go_to_distributor (void) -{ - printf ("[asserv] Go to distributor.\n"); -} - -void -asserv_get_position (void *undef) -{ - printf ("[asserv] Asking position of the bot.\n"); -} - -void -asserv_goto (uint32_t x, uint32_t y) -{ - printf ("[asserv] Move the bot to (%d; %d).\n", x, y); -} - -void -asserv_goto_angle (int16_t angle) -{ - printf ("[asserv] Move the bot to face %X.\n", angle); -} - -void -asserv_set_x_position (int32_t x) -{ - printf ("[asserv] Set X position to %d.\n", x); -} - -void -asserv_set_y_position (int32_t y) -{ - printf ("[asserv] Set Y position to %d.\n", y); -} - -void -asserv_set_angle_position (int16_t a) -{ - printf ("[asserv] Set angle position to %d.\n", a); -} - -void -asserv_set_position (int32_t x, int32_t y, int16_t a) -{ - printf ("[asserv] Set bot position to (%d, %d, %d).\n", x, y, a); -} - -void -asserv_go_to_the_wall (void) -{ - printf ("[asserv] Go to the wall.\n"); -} - -void -chrono_init (void) -{ - printf ("[chrono] Chrono init.\n"); -} - -void -gutter_start (void) -{ - printf ("[FSM:gutter] Start the gutter FSM\n"); -} diff --git a/digital/io/src/test/gutter/Makefile b/digital/io/src/test/gutter/Makefile deleted file mode 100644 index fb829dc8..00000000 --- a/digital/io/src/test/gutter/Makefile +++ /dev/null @@ -1,17 +0,0 @@ -BASE= ../../../../avr -HOST_PROGS = gutter -IOBASE = ../.. -gutter_SOURCES = main.c ../common.host.c $(IOBASE)/fsm.c \ - $(IOBASE)/gutter_cb.c $(IOBASE)/gutter_fsm.c $(IOBASE)/gutter.c \ - $(IOBASE)/getsamples_cb.c $(IOBASE)/getsamples_fsm.c $(IOBASE)/getsamples.c \ - $(IOBASE)/top.c $(IOBASE)/top_cb.c $(IOBASE)/top_fsm.c \ - $(IOBASE)/move.c $(IOBASE)/move_cb.c $(IOBASE)/move_fsm.c \ - $(IOBASE)/simu.host.c - -MODULES = -CONFIGFILE = $(IOBASE)/avrconfig.h -# -O2 : speed -# -Os : size -OPTIMIZE = -O2 - -include $(BASE)/make/Makefile.gen diff --git a/digital/io/src/test/gutter/main.c b/digital/io/src/test/gutter/main.c deleted file mode 100644 index 39acaf28..00000000 --- a/digital/io/src/test/gutter/main.c +++ /dev/null @@ -1,49 +0,0 @@ -/* main.c */ -/* {{{ - * - * Copyright (C) 2008 Nélio Laranjeiro - * - * APBTeam: - * Web: http://apbteam.org/ - * Email: team AT apbteam DOT org - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * }}} */ -#include "common.h" -#include "../../fsm.h" -#include "../../playground.h" - -#include - -int -main (void) -{ - fsm_init (&gutter_fsm); - - fsm_handle_event (&gutter_fsm, GUTTER_EVENT_start); - - /* Move (angle here) command succeed */ - fsm_handle_event (&gutter_fsm, GUTTER_EVENT_bot_move_succeed); - - /* Move (go to the wall) command succeed */ - fsm_handle_event (&gutter_fsm, GUTTER_EVENT_bot_move_succeed); - - /* We have wait enough time for the all the balls to falls */ - fsm_handle_event (&gutter_fsm, GUTTER_EVENT_wait_finished); - - return 0; -} - diff --git a/digital/io/src/test/move/Makefile b/digital/io/src/test/move/Makefile deleted file mode 100644 index 4b301734..00000000 --- a/digital/io/src/test/move/Makefile +++ /dev/null @@ -1,13 +0,0 @@ -BASE= ../../../../avr -HOST_PROGS = fsm -IOBASE = ../.. -fsm_SOURCES = main.c $(IOBASE)/fsm.c \ - $(IOBASE)/move_cb.c $(IOBASE)/move_fsm.c \ - $(IOBASE)/move.c -MODULES = utils -CONFIGFILE = -# -O2 : speed -# -Os : size -OPTIMIZE = -O2 - -include $(BASE)/make/Makefile.gen diff --git a/digital/io/src/test/move/main.c b/digital/io/src/test/move/main.c deleted file mode 100644 index 25ca08b7..00000000 --- a/digital/io/src/test/move/main.c +++ /dev/null @@ -1,135 +0,0 @@ -/* main.c */ -/* {{{ - * - * Copyright (C) 2008 Nélio Laranjeiro - * - * APBTeam: - * Web: http://apbteam.org/ - * Email: team AT apbteam DOT org - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * }}} */ -#include "common.h" -#include "../../fsm.h" -#include "../../asserv.h" -#include "../../move.h" - -#include - -/** - * Status structure maintains by the update command. - */ -typedef struct asserv_struct_s -{ - /** Status flags. */ - uint8_t status; - /** Sequence number. */ - uint8_t seq; - /** Bot position. */ - asserv_position_t position; - /** Arm position. */ - uint16_t arm_position; -} asserv_struct_s; - -/** - * Status variable. - */ -asserv_struct_s asserv_status; - - -void -move_print_test (fsm_t *move) -{ - printf ("Machine state "); - - switch (move->state_current) - { - case MOVE_STATE_IDLE: - printf ("IDLE"); - break; - case MOVE_STATE_DESIRED_POSITION: - printf ("DESIRED POSITION"); - break; - case MOVE_STATE_MOVE_ON_RIGHT: - printf ("MOVE ON RIGHT"); - break; - case MOVE_STATE_MOVE_ON_LEFT: - printf ("MOVE ON LEFT"); - break; - default: - printf ("STATE_NB"); - } - printf ("\n"); -} - -int -main (void) -{ - move_data.position_x = asserv_status.position.x = 1500; - move_data.position_y = asserv_status.position.y = 1050; - - fsm_init (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_start); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_blocked); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_blocked); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_blocked); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_blocked); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_reached); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_blocked); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_reached); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_blocked); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_reached); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_reached); - move_print_test (&move_fsm); - - return 0; -} - -void -asserv_goto (uint32_t x, uint32_t y) -{ - printf ("x : %d\n", x); - printf ("y : %d\n", y); -} - -void -asserv_get_position (asserv_position_t *pos) -{ - pos->x = asserv_status.position.x; - pos->y = asserv_status.position.y; -} - diff --git a/digital/io/src/test/testgetsamples/Makefile b/digital/io/src/test/testgetsamples/Makefile deleted file mode 100644 index bbe76734..00000000 --- a/digital/io/src/test/testgetsamples/Makefile +++ /dev/null @@ -1,15 +0,0 @@ -BASE= ../../../../avr -HOST_PROGS = getsamples -IOBASE = ../.. -getsamples_SOURCES = main.c ../common.host.c $(IOBASE)/fsm.c $(IOBASE)/getsamples.c \ - $(IOBASE)/getsamples_cb.c $(IOBASE)/getsamples_fsm.c \ - $(IOBASE)/top.c $(IOBASE)/top_cb.c $(IOBASE)/top_fsm.c \ - $(IOBASE)/move.c $(IOBASE)/move_cb.c $(IOBASE)/move_fsm.c \ - $(IOBASE)/simu.host.c -MODULES = -CONFIGFILE = $(IOBASE)/avrconfig.h -# -O2 : speed -# -Os : size -OPTIMIZE = -O2 - -include $(BASE)/make/Makefile.gen diff --git a/digital/io/src/test/testgetsamples/main.c b/digital/io/src/test/testgetsamples/main.c deleted file mode 100644 index f083ec8d..00000000 --- a/digital/io/src/test/testgetsamples/main.c +++ /dev/null @@ -1,89 +0,0 @@ -/* main.c */ -/* {{{ - * - * Copyright (C) 2008 Nélio Laranjeiro - * - * APBTeam: - * Web: http://apbteam.org/ - * Email: team AT apbteam DOT org - * - * This program is free software; you can redistribute it and/or modify - * it under the terms of the GNU General Public License as published by - * the Free Software Foundation; either version 2 of the License, or - * (at your option) any later version. - * - * This program is distributed in the hope that it will be useful, - * but WITHOUT ANY WARRANTY; without even the implied warranty of - * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the - * GNU General Public License for more details. - * - * You should have received a copy of the GNU General Public License - * along with this program; if not, write to the Free Software - * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. - * - * }}} */ -#include "common.h" - -#include "../../fsm.h" -#include "../../getsamples.h" -#include "../../playground.h" - -#include "modules/utils/utils.h" - -#include "io.h" - -#include - -extern struct getsamples_data_t getsamples_data_; - -int -main (void) -{ - /* Configure the get sample FSM */ - /* Go to our distributor */ - int16_t approach_angle = PG_DISTRIBUTOR_SAMPLE_OUR_A; - uint8_t sample_bitfield = 0; - /* We want to put the sample into the 0, 2 and 4 box */ - sample_bitfield |= _BV(0); - sample_bitfield |= _BV(2); - sample_bitfield |= _BV(4); - - /* Print initial state */ - /* Configure and initialize the get sample FSM */ - getsamples_start (approach_angle, sample_bitfield); - /* Print first state */ - - /* We are facing the distributor */ - fsm_handle_event (&getsamples_fsm, - GETSAMPLES_EVENT_bot_move_succeed); - - /* We have open the input hole */ - fsm_handle_event (&getsamples_fsm, - GETSAMPLES_EVENT_arm_move_succeed); - - /* The bot is now in contact with to the distributor */ - fsm_handle_event (&getsamples_fsm, - GETSAMPLES_EVENT_bot_move_succeed); - - /* Get the sample one by one */ - do - { - fsm_handle_event (&getsamples_fsm, - GETSAMPLES_EVENT_arm_pass_noted_position); - } while (getsamples_data_.sample_bitfield); - - /* We need to do it one time again to make the bot move away from the - * distributor */ - fsm_handle_event (&getsamples_fsm, - GETSAMPLES_EVENT_arm_pass_noted_position); - - /* We go away from the gutter */ - fsm_handle_event (&getsamples_fsm, - GETSAMPLES_EVENT_bot_move_succeed); - - /* We close the input hole */ - fsm_handle_event (&getsamples_fsm, - GETSAMPLES_EVENT_arm_move_succeed); - - return 0; -} -- cgit v1.2.3