From a40c4ce480ae17fe63459865821eb713333e4536 Mon Sep 17 00:00:00 2001 From: Jérémy Dufour Date: Sun, 20 Apr 2008 16:04:21 +0200 Subject: * digital/io/src/test/testgetsamples - add necessary build dependencies ; - update the test to be consistent with the new get samples FSM. --- digital/io/src/test/testgetsamples/Makefile | 3 ++- digital/io/src/test/testgetsamples/main.c | 28 +++++++++------------------- 2 files changed, 11 insertions(+), 20 deletions(-) (limited to 'digital/io/src/test/testgetsamples') diff --git a/digital/io/src/test/testgetsamples/Makefile b/digital/io/src/test/testgetsamples/Makefile index fb11e378..cd9595bc 100644 --- a/digital/io/src/test/testgetsamples/Makefile +++ b/digital/io/src/test/testgetsamples/Makefile @@ -3,7 +3,8 @@ HOST_PROGS = fsm 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)/top.c $(IOBASE)/top_cb.c $(IOBASE)/top_fsm.c \ + $(IOBASE)/move.c $(IOBASE)/move_cb.c $(IOBASE)/move_fsm.c MODULES = CONFIGFILE = # -O2 : speed diff --git a/digital/io/src/test/testgetsamples/main.c b/digital/io/src/test/testgetsamples/main.c index 935b1931..9f1cd545 100644 --- a/digital/io/src/test/testgetsamples/main.c +++ b/digital/io/src/test/testgetsamples/main.c @@ -26,7 +26,6 @@ #include "../../fsm.h" #include "../../getsamples.h" -#include "../../top.h" #include "../../playground.h" #include "modules/utils/utils.h" @@ -71,25 +70,21 @@ getsamples_print_test (fsm_t *getsamples) printf ("\n"); } +/* Yerk export */ +enum team_color_e bot_color = RED_TEAM; + int main (void) { - /* Yerk export */ - uint8_t our_color = 1; - /* Configure the get sample FSM */ struct getsamples_data_t data; /* Go to our distributor */ - data.distributor_x = PG_DISTRIBUTOR_SAMPLE_OUR_X; - data.distributor_y = PG_DISTRIBUTOR_SAMPLE_OUR_Y; - data.distributor_angle = PG_DISTRIBUTOR_SAMPLE_OUR_A; + data.approach_angle = PG_DISTRIBUTOR_SAMPLE_OUR_A; data.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); - /* Dirty hack when finishing the FSM (event returns to the top FSM) */ - data.event = 1; /* Print initial state */ getsamples_print_test (&getsamples_fsm); @@ -98,13 +93,7 @@ main (void) /* Print first state */ getsamples_print_test (&getsamples_fsm); - /* The move to the front of the distributor failed */ - /* TODO: manage it! */ -// fsm_handle_event (&getsamples_fsm, -// GETSAMPLES_EVENT_bot_move_failed); -// getsamples_print_test (&getsamples_fsm); - - /* We are in front of the distributor */ + /* We are facing the distributor */ fsm_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_bot_move_succeed); getsamples_print_test (&getsamples_fsm); @@ -114,7 +103,7 @@ main (void) GETSAMPLES_EVENT_arm_move_succeed); getsamples_print_test (&getsamples_fsm); - /* The bot is now collated to the distributor */ + /* The bot is now in contact with to the distributor */ fsm_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_bot_move_succeed); getsamples_print_test (&getsamples_fsm); @@ -125,9 +114,10 @@ main (void) fsm_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_arm_pass_noted_position); getsamples_print_test (&getsamples_fsm); - } while (getsamples_data.sample_bitfield); + } while (data.sample_bitfield); - /* We need to do it one time again */ + /* We need to do it one time again to make the bot move away from the + * distributor */ fsm_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_arm_pass_noted_position); getsamples_print_test (&getsamples_fsm); -- cgit v1.2.3