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Diffstat (limited to 'i/marvin/src/es/test_es.cc')
-rw-r--r--i/marvin/src/es/test_es.cc171
1 files changed, 93 insertions, 78 deletions
diff --git a/i/marvin/src/es/test_es.cc b/i/marvin/src/es/test_es.cc
index aa9ce6d..4213ebb 100644
--- a/i/marvin/src/es/test_es.cc
+++ b/i/marvin/src/es/test_es.cc
@@ -31,87 +31,102 @@
class TestEs : public Tester
{
- private:
- Es es_;
- /// Called after each command called.
- void postcall (void)
+ private:
+ Es es_;
+ /// Called after each command called.
+ void postcall (void)
+ {
+ while (!es_.wait ())
+ ;
+ }
+ /// Wait.
+ void wait (int ms)
+ {
+ int t, stop;
+ t = Timer::getProgramTime ();
+ stop = t + ms;
+ while (t < stop)
{
- while (!es_.wait ())
- ;
- }
- /// Wait.
- void wait (int ms)
- {
- int t, stop;
+ es_.wait (stop - t);
t = Timer::getProgramTime ();
- stop = t + ms;
- while (t < stop)
- {
- es_.wait (stop - t);
- t = Timer::getProgramTime ();
- }
}
- public:
- // Constructor
- TestEs (int argc, char ** argv)
- : Tester (argc, argv), es_(config_) { }
- void preRun (void)
- {
- Interpreter &interpreter = getInterpreter ();
- // Add functions.
- interpreter.add ("reset", Interpreter::memFunc (es_, &Es::reset),
- "Reset ()");
- interpreter.add ("wait", Interpreter::memFunc (*this, &TestEs::wait),
- "Blocking wait (time)\n"
- " - time : time to wait in ms");
- interpreter.add
- ("colorRef", Interpreter::memFunc (es_, &Es::setRefColor),
- "Reference current color as green for sensors (mask)");
- interpreter.add
- ("rvbAll", Interpreter::memFunc (es_, &Es::enableAllSensors),
- "Drop a ball at the rear ()");
- interpreter.add
- ("servoPos", Interpreter::memFunc (es_, &Es::setServoPos),
- "Set servo position (mask, pos)");
- interpreter.add
- ("sharpUp", Interpreter::memFunc (es_, &Es::setSharpUpdate),
- "Set sharp update frequency (mask, freq)");
- interpreter.add
- ("sharpStat", Interpreter::memFunc (es_, &Es::setSharpStat),
- "Set sharp stats (mask, freq)");
- interpreter.add
- ("sharpThreshold", Interpreter::memFunc (es_, &Es::setSharpThreshold),
- "Set sharp threshold (num, high, low)\n"
- " - num : sharp number (1-3)\n"
- " - high : high threshold\n"
- " - low : low threshold");
- interpreter.add
- ("lcdPrint", Interpreter::memFunc (es_, &Es::lcdPrint),
- "Print a message (32 char max) onto the LCD (message)");
- interpreter.add
- ("lcdKey", Interpreter::memFunc (es_, &Es::lcdGetKey),
- "Set stat for key if pressed (freq)");
- interpreter.add
- ("turbSpeed", Interpreter::memFunc (es_, &Es::setTurbineSpeed),
- "Set turbine speed (num, speed)\n"
- " - num : 1 front, 2 rear\n"
- " - speed : 256 - 819");
- interpreter.add
- ("turbMin", Interpreter::memFunc (es_, &Es::init2Barillet),
- "Turbine minimal speed ()");
- interpreter.add
- ("turbDep", Interpreter::memFunc (es_, &Es::deposeBalle),
- "Drop a ball at the rear ()");
- interpreter.add
- ("barGoTo", Interpreter::memFunc (es_, &Es::rotationBarillet),
- "Barillet go to position (pos)\n"
- " - pos : in 40 of a round");
- interpreter.add
- ("barSleep", Interpreter::memFunc (es_, &Es::barilletSleep),
- "Barillet in sleep mode (low speed turbine)");
- interpreter.add ("_postcall",
- Interpreter::memFunc (*this, &TestEs::postcall));
- }
+ }
+ public:
+ // Constructor
+ TestEs (int argc, char ** argv)
+ : Tester (argc, argv), es_(config_) { }
+ void preRun (void)
+ {
+ Interpreter &interpreter = getInterpreter ();
+ // Add functions.
+ interpreter.add ("reset", Interpreter::memFunc (es_, &Es::reset),
+ "Reset ()");
+ interpreter.add ("wait", Interpreter::memFunc (*this, &TestEs::wait),
+ "Blocking wait (time)\n"
+ " - time : time to wait in ms");
+ interpreter.add
+ ("colorRef", Interpreter::memFunc (es_, &Es::setRefColor),
+ "Reference current color as green for sensors (mask)");
+ interpreter.add
+ ("rvbAll", Interpreter::memFunc (es_, &Es::enableAllSensors),
+ "Drop a ball at the rear ()");
+ interpreter.add
+ ("servoPos", Interpreter::memFunc (es_, &Es::setServoPos),
+ "Set servo position (mask, pos)");
+ interpreter.add
+ ("sharpUp", Interpreter::memFunc (es_, &Es::setSharpUpdate),
+ "Set sharp update frequency (mask, freq)");
+ interpreter.add
+ ("sharpStat", Interpreter::memFunc (es_, &Es::setSharpStat),
+ "Set sharp stats (mask, freq)");
+ interpreter.add
+ ("sharpThreshold", Interpreter::memFunc (es_, &Es::setSharpThreshold),
+ "Set sharp threshold (num, high, low)\n"
+ " - num : sharp number (1-3)\n"
+ " - high : high threshold\n"
+ " - low : low threshold");
+ interpreter.add
+ ("lcdPrint", Interpreter::memFunc (es_, &Es::lcdPrint),
+ "Print a message (32 char max) onto the LCD (message)");
+ interpreter.add
+ ("lcdKey", Interpreter::memFunc (es_, &Es::lcdGetKey),
+ "Set stat for key if pressed (freq)");
+ interpreter.add
+ ("turbSpeed", Interpreter::memFunc (es_, &Es::setTurbineSpeed),
+ "Set turbine speed (num, speed)\n"
+ " - num : 1 front, 2 rear\n"
+ " - speed : 256 - 819");
+ interpreter.add
+ ("turbMinSpeed", Interpreter::memFunc (es_,
+ &Es::barilletDebutLancement),
+ "Turbine minimal speed ()");
+ interpreter.add
+ ("turbFrontFull", Interpreter::memFunc (es_,
+ &Es::barilletLancement),
+ "Turbine front full speed ()");
+ interpreter.add
+ ("barSleep", Interpreter::memFunc (es_, &Es::barilletSleep),
+ "Barillet in sleep mode (low speed turbine)");
+ interpreter.add
+ ("turbDepose", Interpreter::memFunc (es_, &Es::deposeBalle),
+ "Drop a ball at the rear ()");
+ interpreter.add
+ ("barExtract", Interpreter::memFunc (es_, &Es::extraitBalle),
+ "Extract a ball ()");
+ interpreter.add
+ ("barGoTo", Interpreter::memFunc (es_, &Es::rotationBarillet),
+ "Barillet go to position (pos)\n"
+ " - pos : in 40 of a round");
+ interpreter.add
+ ("barPurge", Interpreter::memFunc (es_, &Es::barilletEmpty),
+ "Extract a ball ()");
+ interpreter.add ("_postcall",
+ Interpreter::memFunc (*this, &TestEs::postcall));
+ }
+ void postRun (void)
+ {
+ es_.reset ();
+ }
};
int