/* main.c */ /* {{{ * * Copyright (C) 2008 NĂ©lio Laranjeiro * * APBTeam: * Web: http://apbteam.org/ * Email: team AT apbteam DOT org * * This program is free software; you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation; either version 2 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program; if not, write to the Free Software * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. * * }}} */ #include "common.h" #include "../../fsm.h" #include "../../asserv.h" #include "../../move.h" #include /** * 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) { printf ("Machine state "); switch (move->state_current) { case MOVE_STATE_END: printf ("END"); break; case MOVE_STATE_DESIRED_POSITION: printf ("DESIRED POSITION"); break; case MOVE_STATE_MOVE_ON_RIGHT: printf ("MOVE ON RIGHT"); break; case MOVE_STATE_MOVE_ON_LEFT: printf ("MOVE ON LEFT"); break; default: printf ("STATE_NB"); } printf ("\n"); } 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); 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_failed_or_blocked_or_near_border); move_print_test (&move_fsm); fsm_handle_event (&move_fsm, MOVE_EVENT_reached); 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); fsm_handle_event (&move_fsm, MOVE_EVENT_reached); move_print_test (&move_fsm); return 0; } 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; }