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-rw-r--r--digital/io/src/test/move/main.c59
1 files changed, 41 insertions, 18 deletions
diff --git a/digital/io/src/test/move/main.c b/digital/io/src/test/move/main.c
index 60f62aa3..ea6eb4e4 100644
--- a/digital/io/src/test/move/main.c
+++ b/digital/io/src/test/move/main.c
@@ -24,9 +24,32 @@
* }}} */
#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)
{
@@ -55,6 +78,9 @@ move_print_test (fsm_t *move)
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_ok);
@@ -64,15 +90,9 @@ main (void)
fsm_handle_event (&move_fsm, MOVE_EVENT_failed_or_blocked);
move_print_test (&move_fsm);
- fsm_handle_event (&move_fsm, MOVE_EVENT_failed_or_blocked);
+ fsm_handle_event (&move_fsm, MOVE_EVENT_failed_or_blocked_or_near_border);
move_print_test (&move_fsm);
- fsm_handle_event (&move_fsm, MOVE_EVENT_near_border);
- move_print_test (&move_fsm);
-
- fsm_handle_event (&move_fsm, MOVE_EVENT_failed_or_blocked);
- move_print_test (&move_fsm);
-
fsm_handle_event (&move_fsm, MOVE_EVENT_reached);
move_print_test (&move_fsm);
@@ -88,14 +108,17 @@ main (void)
return 0;
}
-//void
-//asserv_set_x_position (uint32_t position)
-//{
-// printf ("X position : %d\n", position);
-//}
-//
-//void
-//asserv_set_y_position (int32_t y)
-//{
-// printf ("Y position : %d\n", y);
-//}
+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;
+}
+