/* 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 "modules/proto/proto.h" #include "modules/utils/utils.h" #include "../../getsamples.h" #include "../../getsamples_robo.h" void getsamples_print_test (getsamples_t *getsamples) { printf ("STATE "); switch (getsamples->fsm) { case GETSAMPLES_STATE_START: printf ("START"); break; case GETSAMPLES_STATE_PREPARE_ARM: printf ("PREPEARE_ARM"); break; case GETSAMPLES_STATE_END: printf ("END"); break; case GETSAMPLES_STATE_FORWARD_CONTROL: printf ("FORWARD_CONTROL"); break; case GETSAMPLES_STATE_TAKE_SAMPLES: printf ("TAKE_SAMPLES"); break; case GETSAMPLES_STATE_BACKWARD: printf ("BACKWARD"); break; case GETSAMPLES_STATE_GO_TO_POSITION: printf ("GO_TO_POSITION"); break; case GETSAMPLES_STATE_NB: printf ("STATE_NB"); } printf ("\n"); } int main (void) { getsamples_t getsamples_fsm; getsamples_init (&getsamples_fsm); getsamples_print_test (&getsamples_fsm); getsamples_fsm.distributor_x = 700; getsamples_fsm.distributor_y = 2100; getsamples_fsm.samples = 3; getsamples_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_ok); getsamples_print_test (&getsamples_fsm); getsamples_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_position_failed); getsamples_print_test (&getsamples_fsm); getsamples_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_position_reached); getsamples_print_test (&getsamples_fsm); getsamples_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_arm_moved); getsamples_print_test (&getsamples_fsm); getsamples_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_position_reached); getsamples_print_test (&getsamples_fsm); for (getsamples_fsm.samples--; getsamples_fsm.samples; getsamples_fsm.samples --) { getsamples_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_sample_took); getsamples_print_test (&getsamples_fsm); } getsamples_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_sample_took); getsamples_print_test (&getsamples_fsm); getsamples_handle_event (&getsamples_fsm, GETSAMPLES_EVENT_position_reached); getsamples_print_test (&getsamples_fsm); return 0; } void asserv_set_x_position (uint32_t position) { printf ("X position : %d\n", position); } void asserv_move_arm (uint16_t position, uint8_t speed) { printf ("Move arm, position : %d, speed : %d\n", position, speed); } void asserv_set_y_position (int32_t y) { printf ("Y position : %d\n", y); }