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authorNicolas Schodet2010-04-01 23:57:20 +0200
committerNicolas Schodet2010-04-01 23:57:20 +0200
commit80b3da91dac28a5895a8cb9f0477a7008365dd56 (patch)
treec1f0f544676df83c81ed185fa90f1e832be8dabb /digital/io/src/test/move/main.c
parent811125a12c40ab0d7d90da8da2142c382a7301cc (diff)
digital/io: wipe-out old robot code, closes #112
Diffstat (limited to 'digital/io/src/test/move/main.c')
-rw-r--r--digital/io/src/test/move/main.c135
1 files changed, 0 insertions, 135 deletions
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 NĂ©lio 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 <stdio.h>
-
-/**
- * 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;
-}
-