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authorJérémy Dufour2008-04-20 16:05:55 +0200
committerJérémy Dufour2008-04-20 16:05:55 +0200
commit916f14dbe89bf84f321eb2fa029ad23f802e5279 (patch)
tree4780b5a0c704eb895e8fc4fc33e3e3464edc3744 /digital/io
parentea1ac11fbefede9b55714e8c1b9f93ac9714afec (diff)
* digital/io/src
- update test of get samples FSM.
Diffstat (limited to 'digital/io')
-rw-r--r--digital/io/src/test/testgetsamples/Makefile5
-rw-r--r--digital/io/src/test/testgetsamples/main.c35
2 files changed, 30 insertions, 10 deletions
diff --git a/digital/io/src/test/testgetsamples/Makefile b/digital/io/src/test/testgetsamples/Makefile
index cd9595bc..88ed2d1a 100644
--- a/digital/io/src/test/testgetsamples/Makefile
+++ b/digital/io/src/test/testgetsamples/Makefile
@@ -4,9 +4,10 @@ IOBASE = ../..
fsm_SOURCES = main.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)/move.c $(IOBASE)/move_cb.c $(IOBASE)/move_fsm.c \
+ $(IOBASE)/simu.host.c
MODULES =
-CONFIGFILE =
+CONFIGFILE = $(IOBASE)/avrconfig.h
# -O2 : speed
# -Os : size
OPTIMIZE = -O2
diff --git a/digital/io/src/test/testgetsamples/main.c b/digital/io/src/test/testgetsamples/main.c
index 9f1cd545..a61c1181 100644
--- a/digital/io/src/test/testgetsamples/main.c
+++ b/digital/io/src/test/testgetsamples/main.c
@@ -73,23 +73,24 @@ getsamples_print_test (fsm_t *getsamples)
/* Yerk export */
enum team_color_e bot_color = RED_TEAM;
+extern uint8_t sample_bitfield_;
+
int
main (void)
{
/* Configure the get sample FSM */
- struct getsamples_data_t data;
/* Go to our distributor */
- data.approach_angle = PG_DISTRIBUTOR_SAMPLE_OUR_A;
- data.sample_bitfield = 0;
+ 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 */
- data.sample_bitfield |= _BV(0);
- data.sample_bitfield |= _BV(2);
- data.sample_bitfield |= _BV(4);
+ sample_bitfield |= _BV(0);
+ sample_bitfield |= _BV(2);
+ sample_bitfield |= _BV(4);
/* Print initial state */
getsamples_print_test (&getsamples_fsm);
/* Configure and initialize the get sample FSM */
- getsamples_start (data);
+ getsamples_start (approach_angle, sample_bitfield);
/* Print first state */
getsamples_print_test (&getsamples_fsm);
@@ -114,7 +115,7 @@ main (void)
fsm_handle_event (&getsamples_fsm,
GETSAMPLES_EVENT_arm_pass_noted_position);
getsamples_print_test (&getsamples_fsm);
- } while (data.sample_bitfield);
+ } while (sample_bitfield_);
/* We need to do it one time again to make the bot move away from the
* distributor */
@@ -205,6 +206,24 @@ asserv_goto_angle (int16_t 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
gutter_start (void)
{
printf ("[FSM:gutter] Start the gutter FSM\n");