summaryrefslogtreecommitdiff
path: root/n/asserv/src/main.c
diff options
context:
space:
mode:
authorschodet2004-11-19 16:38:34 +0000
committerschodet2004-11-19 16:38:34 +0000
commitfa8ff2dec76b1b366207a126dfc360331510c50d (patch)
tree955c85257b7674c6ea963f450876da4e86ce433e /n/asserv/src/main.c
parentd1a5ae450f9ca78beaaebe2a8d4902a6bcb68515 (diff)
Ajout du calcul de position. Non testé.
Diffstat (limited to 'n/asserv/src/main.c')
-rw-r--r--n/asserv/src/main.c30
1 files changed, 28 insertions, 2 deletions
diff --git a/n/asserv/src/main.c b/n/asserv/src/main.c
index 8656644..2adbb76 100644
--- a/n/asserv/src/main.c
+++ b/n/asserv/src/main.c
@@ -33,6 +33,7 @@
#include "timer.c"
#include "counter.c"
#include "speed.c"
+#include "postrack.c"
/** Motor mode :
* 0 - pwm setup;
@@ -55,9 +56,12 @@ uint8_t motor_stat_timer, motor_stat_timer_cpt;
/** Report of counters. */
uint8_t motor_stat_counter, motor_stat_counter_cpt;
+/** Report position. */
+uint8_t motor_stat_postrack, motor_stat_postrack_cpt;
+
/** Record timer value at different stage of computing. Used for performance
* analisys. */
-uint8_t motor_timer_0, motor_timer_1, motor_timer_2;
+uint8_t motor_timer_0, motor_timer_1, motor_timer_2, motor_timer_3;
/* +AutoDec */
@@ -80,6 +84,7 @@ main (void)
timer_init ();
counter_init ();
speed_init ();
+ postrack_init ();
rs232_init ();
proto_init (proto_callback, rs232_putc);
proto_send0 ('z');
@@ -98,6 +103,8 @@ main_loop (void)
while (!timer_pending ())
counter_poll ();
counter_update ();
+ motor_timer_3 = timer_read ();
+ postrack_update ();
motor_timer_2 = timer_read ();
/* Speed control. */
if (motor_mode >= 1)
@@ -129,7 +136,8 @@ main_loop (void)
}
if (motor_stat_timer && !--motor_stat_timer_cpt)
{
- proto_send3 ('T', motor_timer_2, motor_timer_1, motor_timer_0);
+ proto_send4 ('T', motor_timer_3, motor_timer_2, motor_timer_1,
+ motor_timer_0);
motor_stat_timer_cpt = motor_stat_timer;
}
if (motor_stat_counter && !--motor_stat_counter_cpt)
@@ -138,6 +146,18 @@ main_loop (void)
counter_left >> 8, counter_left,
counter_right >> 8, counter_right);
motor_stat_counter_cpt = motor_stat_counter;
+ if (motor_stat_postrack && !--motor_stat_postrack_cpt)
+ {
+ proto_send4 ('X',
+ postrack_x >> 24, postrack_x >> 16,
+ postrack_x >> 8, postrack_x);
+ proto_send4 ('Y',
+ postrack_y >> 24, postrack_y >> 16,
+ postrack_y >> 8, postrack_y);
+ proto_send4 ('A',
+ postrack_a >> 24, postrack_a >> 16,
+ postrack_a >> 8, postrack_a);
+ motor_stat_postrack_cpt = motor_stat_postrack;
}
/* Misc. */
if ((motor_loop_cpt & 7) == 0)
@@ -185,6 +205,9 @@ proto_callback (uint8_t cmd, uint8_t argc, proto_arg_t argv[])
case c ('i', 2):
speed_ki = argv[0] << 8 | argv[1];
break;
+ case c ('f', 2):
+ postrack_set_footing (argv[0] << 8 | argv[1]);
+ break;
case c ('m', 1):
motor_stat_speed_cpt = motor_stat_speed = argv[0];
motor_stat_pwm_cpt = motor_stat_pwm = argv[0];
@@ -195,6 +218,9 @@ proto_callback (uint8_t cmd, uint8_t argc, proto_arg_t argv[])
case c ('t', 1):
motor_stat_timer_cpt = motor_stat_timer = argv[0];
break;
+ case c ('T', 1):
+ motor_stat_postrack_cpt = motor_stat_postrack = argv[0];
+ break;
default:
proto_send0 ('e');
return;