From 80b3da91dac28a5895a8cb9f0477a7008365dd56 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 1 Apr 2010 23:57:20 +0200 Subject: digital/io: wipe-out old robot code, closes #112 --- digital/io/src/asserv.h | 92 +++++++++++++++---------------------------------- 1 file changed, 28 insertions(+), 64 deletions(-) (limited to 'digital/io/src/asserv.h') diff --git a/digital/io/src/asserv.h b/digital/io/src/asserv.h index 253ef0a5..7e94d19b 100644 --- a/digital/io/src/asserv.h +++ b/digital/io/src/asserv.h @@ -38,10 +38,10 @@ * ignored. */ -#define ASSERV_ARM_SPEED_DEFAULT 0x0C -#define ASSERV_ELVT_SPEED_DEFAULT 0x46 +#define ASSERV_MOTOR0_SPEED_DEFAULT 0x0C +#define ASSERV_MOTOR1_SPEED_DEFAULT 0x46 -#define ASSERV_ARM_STEP_BY_DEGREE 14.814814 +#define ASSERV_MOTOR0_STEP_BY_DEGREE 14.814814 /** Use backward movements. */ #define ASSERV_BACKWARD 1 @@ -92,7 +92,7 @@ uint8_t asserv_retransmit (void); /** - * Status of a move or arm class command. + * Status of a move or motor0 class command. * It is return by status functions. */ typedef enum asserv_status_e @@ -101,7 +101,7 @@ typedef enum asserv_status_e none, /** The command has succeed. */ success, - /** The command has failed. The bot or the arm is blocked */ + /** The command has failed. The bot or the motor0 is blocked */ failure } asserv_status_e; @@ -115,31 +115,22 @@ asserv_status_e asserv_move_cmd_status (void); /** - * Is last arm class command has successfully ended? - * This function is used to know the status of the last arm command. It looks - * at the status register. + * Is last motor0 class command has successfully ended? + * This function is used to know the status of the last motor0 command. It + * looks at the status register. * @return the status of the last move class command. */ asserv_status_e -asserv_arm_cmd_status (void); +asserv_motor0_cmd_status (void); /** - * - * Is the optical fence see a puck? - * This function get the arm optical fence status - * @return the status of the arm optical fence - */ -uint8_t -asserv_arm_of_status(void); - -/** - * Is last elevator class command has successfully ended? - * This function is used to know the status of the last elevator command. It + * Is last motor1 class command has successfully ended? + * This function is used to know the status of the last motor1 command. It * looks at the status register. * @return the status of the last move class command. */ asserv_status_e -asserv_elevator_cmd_status (void); +asserv_motor1_cmd_status (void); /** * Structure for storing a position for the bot. @@ -162,18 +153,18 @@ void asserv_get_position (asserv_position_t *current_position); /** - * Get the arm position. - * @return the position of the arm (in steps). + * Get the motor0 position. + * @return the position of the motor0 (in steps). */ uint16_t -asserv_get_arm_position (void); +asserv_get_motor0_position (void); /** - * Get the elevator position. - * @return the position of the elevator (in steps). + * Get the motor1 position. + * @return the position of the motor1 (in steps). */ uint16_t -asserv_get_elevator_position (void); +asserv_get_motor1_position (void); /** * Are we moving forward/backward? @@ -249,15 +240,8 @@ void asserv_go_to_the_wall (uint8_t backward); /** - * Move forward to approach a distributor. - * Move class command. - */ -void -asserv_go_to_distributor (void); - -/** - * Move the arm to a certain number of steps. - * Arm class command. + * Move the motor0 to a certain number of steps. + * Motor0 class command. * This function take the number of steps you want to move to. This is not an * absolute position, this is only the number of steps you want to add to the * current position. @@ -265,18 +249,18 @@ asserv_go_to_distributor (void); * @param speed speed of the movement. */ void -asserv_move_arm (int16_t offset, uint8_t speed); +asserv_move_motor0 (int16_t offset, uint8_t speed); /** - * Move the elevator. - * Elevator class command. + * Move the motor1. + * Motor1 class command. * This function take the number of steps you want to move to. This is an * absolute position. * @param position desired goal position (in step). * @param speed speed of the movement. */ void -asserv_move_elevator_absolute (uint16_t position, uint8_t speed); +asserv_move_motor1_absolute (uint16_t position, uint8_t speed); /** * Set current X position. @@ -344,26 +328,6 @@ asserv_goto (uint32_t x, uint32_t y, uint8_t backward); void asserv_goto_back (uint32_t x, uint32_t y); -/** - * Set the notifier of get samples FSM when the arm reach desired position. - * You should called this function from the get sample FSM to tell the asserv - * module you want to be notified when the arm reached the desired position. - * @param position the desired position of the arm (absolute). Note, 0 is a - * reset value do disable the notifier. If you want to use it, please add 1. - */ -void -asserv_arm_set_position_reached (uint16_t position); - -/** - * Check if notification of the get sample FSM is required in term of - * position of the arm. - * @return - * - 0 if the notification is not needed ; - * - 1 if the notification of the get sample FSM is required. - */ -uint8_t -asserv_arm_position_reached (void); - /** Set scale. * @param scale vous avez qu'à deviner (f8.24). */ @@ -371,16 +335,16 @@ void asserv_set_scale (uint32_t scale); /** - * Reset the ARM to the zero position. + * Reset the motor0 to the zero position. */ void -asserv_arm_zero_position (void); +asserv_motor0_zero_position (void); /** - * Reset the elevator to the zero position. + * Reset the motor1 to the zero position. */ void -asserv_elevator_zero_position (void); +asserv_motor1_zero_position (void); /** * Get the last moving direction of the bot. -- cgit v1.2.3