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Diffstat (limited to 'n/line-follower/src/test_pwm.c')
-rw-r--r--n/line-follower/src/test_pwm.c69
1 files changed, 69 insertions, 0 deletions
diff --git a/n/line-follower/src/test_pwm.c b/n/line-follower/src/test_pwm.c
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+/* test_pwm.c */
+/* asserv - Position & speed motor control on a ATmega128. {{{
+ *
+ * Copyright (C) 2004 Nicolas Schodet
+ *
+ * Robot APB Team/Efrei 2005.
+ * Web: http://assos.efrei.fr/robot/
+ * Email: robot AT efrei DOT fr
+ *
+ * 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 <n/avr/rs232/rs232.h>
+#include <n/avr/proto/proto.h>
+#include <n/avr/utils/utils.h>
+#include <avr/io.h>
+
+/* +AutoDec */
+/* -AutoDec */
+
+#include "pwm.c"
+
+void
+proto_callback (uint8_t c, uint8_t argc, proto_arg_t argv[])
+{
+ switch (c | argc << 8)
+ {
+ case 'l' | 2 << 8:
+ pwm_left = argv[0] << 8 | argv[1];
+ break;
+ case 'r' | 2 << 8:
+ pwm_right = argv[0] << 8 | argv[1];
+ break;
+ default:
+ proto_send0 ('e');
+ return;
+ }
+ pwm_update ();
+ proto_send (c, argc, argv);
+}
+
+int
+main (void)
+{
+ rs232_init ();
+ pwm_init ();
+ proto_init (proto_callback, rs232_putc);
+ rs232_putc ('!');
+ rs232_putc ('z');
+ rs232_putc ('\r');
+ while (1)
+ {
+ uint8_t c = rs232_getc ();
+ proto_accept (c);
+ }
+ return 0;
+}