From b82634f57317dfba15ede759f5414ac5a22491ce Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 30 Apr 2008 16:35:49 +0200 Subject: * digital/asserv/src/asserv: - changed pin assignment to match real hardware. --- digital/asserv/src/asserv/aux.c | 6 +++--- digital/asserv/src/asserv/simu.host.c | 11 ++++++----- digital/asserv/src/asserv/traj.c | 2 +- 3 files changed, 10 insertions(+), 9 deletions(-) diff --git a/digital/asserv/src/asserv/aux.c b/digital/asserv/src/asserv/aux.c index 562bcffd..16f08919 100644 --- a/digital/asserv/src/asserv/aux.c +++ b/digital/asserv/src/asserv/aux.c @@ -78,21 +78,21 @@ aux_traj_find_zero (void) switch (aux0.traj_mode) { case AUX_TRAJ_FIND_ZERO_START: - if (!(PINC & _BV (3))) + if (!(PINC & _BV (5))) { speed_aux0.cons = speed_aux0.max << 8; aux0.traj_mode = AUX_TRAJ_FIND_ZERO_SLOW; } break; case AUX_TRAJ_FIND_ZERO_SLOW: - if (PINC & _BV (3)) + if (PINC & _BV (5)) { speed_aux0.cons = -speed_aux0.slow << 8; aux0.traj_mode = AUX_TRAJ_FIND_ZERO_BACK; } break; case AUX_TRAJ_FIND_ZERO_BACK: - if (!(PINC & _BV (3))) + if (!(PINC & _BV (5))) { speed_aux0.cons = 0; state_finish (&state_aux0); diff --git a/digital/asserv/src/asserv/simu.host.c b/digital/asserv/src/asserv/simu.host.c index 795ee6a7..eec42f61 100644 --- a/digital/asserv/src/asserv/simu.host.c +++ b/digital/asserv/src/asserv/simu.host.c @@ -30,6 +30,8 @@ #include "modules/utils/utils.h" #include "modules/math/fixed/fixed.h" +#include "io.h" + #include #include #include @@ -138,9 +140,10 @@ simu_sensor_update (void) { -70.0, -200.0 }, { 170.0, 0.0 }, }; + static const uint8_t sensors_bit[] = + { _BV (0), _BV (1), _BV (3), }; static const double table_width = 3000.0, table_height = 2100.0; PINC = 0; - uint8_t bit = 1; unsigned int i; double x, y; for (i = 0; i < UTILS_COUNT (sensors); i++) @@ -151,14 +154,12 @@ simu_sensor_update (void) y = simu_pos_y + sin (simu_pos_a) * sensors[i][0] + cos (simu_pos_a) * sensors[i][1]; if (x >= 0.0 && x < table_width && y >= 0.0 && y < table_height) - PINC |= bit; - bit <<= 1; + PINC |= sensors_bit[i]; } /** Top zero sensor. */ double aa = simu_aux0_model.th / simu_aux0_model.m.i_G * 3; if (!(cos (aa) > 0 && fabs (sin (aa)) * 80.0 < 7.5)) - PINC |= bit; - bit <<= 1; + PINC |= _BV (5); } /** Do a simulation step. */ diff --git a/digital/asserv/src/asserv/traj.c b/digital/asserv/src/asserv/traj.c index cdac0538..2b754a26 100644 --- a/digital/asserv/src/asserv/traj.c +++ b/digital/asserv/src/asserv/traj.c @@ -149,7 +149,7 @@ traj_gtd (void) speed = speed_theta.slow; speed *= 256; speed_theta.use_pos = speed_alpha.use_pos = 0; - if (PINC & _BV (2)) + if (PINC & _BV (3)) { speed_theta.cons = speed; speed_alpha.cons = 0; -- cgit v1.2.3