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authorJérémy Dufour2008-04-23 13:31:54 +0200
committerJérémy Dufour2008-04-23 13:31:54 +0200
commit666bccd44d3061f6e8a140b96f68e25d444357de (patch)
tree5b5fa3bd2f6da39c1354d296d08740fe0fb89293 /digital/io/src/test/common.host.c
parentb37be4dc387ff573c5d6baca14472a56c682c537 (diff)
* digital/io/src/test
- add common file to put all the functions for host (yerk) ; - update gutter test program to make it work.
Diffstat (limited to 'digital/io/src/test/common.host.c')
-rw-r--r--digital/io/src/test/common.host.c154
1 files changed, 154 insertions, 0 deletions
diff --git a/digital/io/src/test/common.host.c b/digital/io/src/test/common.host.c
new file mode 100644
index 00000000..c6586e58
--- /dev/null
+++ b/digital/io/src/test/common.host.c
@@ -0,0 +1,154 @@
+/* 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 <stdio.h>
+
+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");
+}