# mimot - Mini motor control, with motor driver. {{{ # # Copyright (C) 2012 Nicolas Schodet # # 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. # # }}} from mimot import Proto import mimot.init import sys if len (sys.argv) != 3 or sys.argv[1] not in ('host', 'target'): print >> sys.stderr, "usage: %s " % sys.argv[0] sys.exit (1) target, robot = sys.argv[1:] init = dict (host = mimot.init.host, target = mimot.init.target)[target] if robot not in init: print >> sys.stderr, "unknown robot" sys.exit (1) proto = Proto (None, **init[robot]) params = proto.param template = """\ /* Autogenerated file, do not edit! */ #ifdef EEPROM_DEFAULTS_KEY # error "duplicated definition" #endif #define EEPROM_DEFAULTS_KEY {key:#x} struct eeprom_t PROGMEM eeprom_defaults = {defaults}; """ def param (name, offset = 0, m = None): if m: mname = m + '_' + name if mname in params: name = mname value = params[name] if offset: value = int (round (value * (1 << offset))) return '0x%x /* %s */' % (value, name) def j (*params): return '{\n ' + ',\n '.join (p.replace ('\n', '\n ') for p in params) + '\n}' indexes = [ 'a%d' % i for i in xrange (2) ] key = 0x03 defaults = j ( 'EEPROM_DEFAULTS_KEY', j (*[j ( param ('speed_max', m = m), param ('speed_slow', m = m), param ('acc', offset = 8, m = m)) for m in indexes]), j (*[j ( param ('kp', offset = 8, m = m), param ('ki', offset = 8, m = m), param ('kd', offset = 8, m = m), param ('e_sat', m = m), param ('i_sat', m = m), param ('d_sat', m = m)) for m in indexes]), j (*[j ( param ('bd_error_limit', m = m), param ('bd_speed_limit', m = m), param ('bd_counter_limit', m = m)) for m in indexes]), j (*[j ( param ('reverse', m = m)) for m in indexes]), '0') print template.format (key = key, defaults = defaults)