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authorbecquet2007-05-10 18:49:20 +0000
committerbecquet2007-05-10 18:49:20 +0000
commit8f486613be58ced269db1d437e560c16558604e8 (patch)
tree41e94b2122a118cb06abf6fc2a0038cd1dfbec4a /i/chuck/src/asserv/test_asserv.cc
parent4daa2c76c2a028e4b2c8ab379e7d1e0f535a0a31 (diff)
Création de chuck, le programme du robot 2007.
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+// test_asserv.cc
+// marvin - programme du robot 2006. {{{
+//
+// Copyright (C) 2006 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 "asserv.hh"
+#include "tester/tester.hh"
+#include "timer/timer.hh"
+
+#include <iostream>
+#include <exception>
+#include <iomanip>
+
+class TestAsserv : public Tester, public Asserv::Receiver
+{
+ private:
+ Asserv asserv_;
+ int seq_;
+ bool ok_;
+ public:
+ /// Constructor.
+ TestAsserv (int argc, char **argv)
+ : Tester (argc, argv), asserv_ (*this), seq_ (0), ok_ (true)
+ { }
+ /// Next seq number.
+ inline void nextSeq (void)
+ {
+ seq_++;
+ if (seq_ > 100)
+ seq_ = 1;
+ }
+ /// Speed controlled position consign offset, handle seq.
+ void speedTo (double t, double a)
+ {
+ nextSeq ();
+ ok_ = false;
+ asserv_.speedTo (t, a, seq_);
+ }
+ /// Speed controlled angle consign offset, handle seq.
+ void speedAngle (double a)
+ {
+ nextSeq ();
+ ok_ = false;
+ asserv_.speedAngle (a, seq_);
+ }
+ /// Find a hole, handle seq.
+ void findHole (void)
+ {
+ nextSeq ();
+ ok_ = false;
+ asserv_.findHole (seq_);
+ }
+ /// Wait.
+ void wait (int ms)
+ {
+ int t, stop;
+ t = Timer::getProgramTime ();
+ stop = t + ms;
+ while (t < stop)
+ {
+ asserv_.wait (stop - t);
+ t = Timer::getProgramTime ();
+ }
+ }
+ /// Called after each command called.
+ void postcall (void)
+ {
+ while (!asserv_.wait () || !ok_)
+ ;
+ }
+ /// Executed before checking/running commands. Good place to add command
+ /// to the interpreter.
+ void preRun (void)
+ {
+ Interpreter &i = getInterpreter ();
+ i.add ("wait", Interpreter::memFunc (*this, &TestAsserv::wait),
+ "wait MS\nwait for a delay in millisecond");
+ i.add ("reset", Interpreter::memFunc (asserv_, &Asserv::reset),
+ "reset\nreset the asserv board");
+ i.add ("pwm", Interpreter::memFunc (asserv_, &Asserv::pwm),
+ "pwm LEFT RIGHT\n"
+ "directly set pwm values, use with caution");
+ i.add ("offset", Interpreter::memFunc (asserv_, &Asserv::offset),
+ "offset THETA(mm) ALPHA(mm)\n"
+ "add value to current position, use for pid callibration");
+ i.add ("speed", Interpreter::memFunc (asserv_, &Asserv::speed),
+ "speed THETA ALPHA\n"
+ "unlimited speed consign");
+ i.add ("speedTo", Interpreter::memFunc (*this, &TestAsserv::speedTo),
+ "speedTo THETA(mm) ANGLE(mm)\n"
+ "speed consign limited in distance");
+ i.add ("speedAngle",
+ Interpreter::memFunc (*this, &TestAsserv::speedAngle),
+ "speedAngle ANGLE(rad)\n"
+ "speed consign limited in angle");
+ i.add ("findHole", Interpreter::memFunc (*this, &TestAsserv::findHole),
+ "findHole\nfind a hole");
+ i.add ("setPos", Interpreter::memFunc (asserv_, &Asserv::setPos),
+ "setPos X(mm) Y(mm) A(rad)\n"
+ "set current position");
+ i.add ("setXPos", Interpreter::memFunc (asserv_, &Asserv::setYPos),
+ "setPos X(mm)\n"
+ "set current X position");
+ i.add ("setYPos", Interpreter::memFunc (asserv_, &Asserv::setXPos),
+ "setPos Y(mm)\n"
+ "set current Y position");
+ i.add ("setAngle", Interpreter::memFunc (asserv_, &Asserv::setAngle),
+ "setPos A(rad)\n"
+ "set current angle");
+ i.add ("storeParams",
+ Interpreter::memFunc (asserv_, &Asserv::storeParams),
+ "storeParams\nstore parameters to eeprom");
+ i.add ("clearParams",
+ Interpreter::memFunc (asserv_, &Asserv::clearParams),
+ "clearParams\nclear parameters stored in eeprom");
+ i.add ("_postcall",
+ Interpreter::memFunc (*this, &TestAsserv::postcall));
+ }
+ /// Executed after running commands.
+ void postRun (void)
+ {
+ asserv_.reset ();
+ }
+ void receiveAck (int seq)
+ {
+ if ((seq & 0x7f) == seq_)
+ {
+ std::cout << "ack received" << std::endl;
+ asserv_.ack (seq);
+ ok_ = true;
+ }
+ }
+ void receiveCounterStat (int l, int r)
+ {
+ std::cout << "C " << l << ' ' << r << std::endl;
+ }
+ void receivePos (double x, double y, double a)
+ {
+ std::cout << "X " << x << ' ' << y << ' ' << a << std::endl;
+ }
+ void receiveSpeedStat (int t, int a)
+ {
+ std::cout << "S " << t << ' ' << a << std::endl;
+ }
+ void receivePosStat (int te, int ti, int ae, int ai)
+ {
+ std::cout << "P " << te << ' ' << ti << ' ' << ae << ' ' << ai <<
+ std::endl;
+ }
+ void receivePwmStat (int l, int r)
+ {
+ std::cout << "W " << l << ' ' << r << std::endl;
+ }
+ void receiveTimerStat (const int *t, int tn)
+ {
+ std::cout << "T ";
+ std::copy (t, t + tn, std::ostream_iterator<int> (std::cout, " "));
+ }
+ void receiveInPort (unsigned int port)
+ {
+ std::cout << "I " << std::hex << std::setw (4) << std::setfill ('0')
+ << port << std::dec << std::endl;
+ }
+};
+
+int
+main (int argc, char **argv)
+{
+ try
+ {
+ TestAsserv ta (argc, argv);
+ ta.run ();
+ }
+ catch (const std::exception &e)
+ {
+ std::cerr << e.what () << std::endl;
+ }
+}