summaryrefslogtreecommitdiff
path: root/digital/asserv
diff options
context:
space:
mode:
authorNicolas Schodet2008-04-30 16:35:49 +0200
committerNicolas Schodet2008-04-30 16:35:49 +0200
commitb82634f57317dfba15ede759f5414ac5a22491ce (patch)
treef6b9abc4c2b1f461520884ce6b00305887a1d868 /digital/asserv
parent8314a191a83c606e9555e53d3c310bef05ef7731 (diff)
* digital/asserv/src/asserv:
- changed pin assignment to match real hardware.
Diffstat (limited to 'digital/asserv')
-rw-r--r--digital/asserv/src/asserv/aux.c6
-rw-r--r--digital/asserv/src/asserv/simu.host.c11
-rw-r--r--digital/asserv/src/asserv/traj.c2
3 files changed, 10 insertions, 9 deletions
diff --git a/digital/asserv/src/asserv/aux.c b/digital/asserv/src/asserv/aux.c
index 562bcffd..16f08919 100644
--- a/digital/asserv/src/asserv/aux.c
+++ b/digital/asserv/src/asserv/aux.c
@@ -78,21 +78,21 @@ aux_traj_find_zero (void)
switch (aux0.traj_mode)
{
case AUX_TRAJ_FIND_ZERO_START:
- if (!(PINC & _BV (3)))
+ if (!(PINC & _BV (5)))
{
speed_aux0.cons = speed_aux0.max << 8;
aux0.traj_mode = AUX_TRAJ_FIND_ZERO_SLOW;
}
break;
case AUX_TRAJ_FIND_ZERO_SLOW:
- if (PINC & _BV (3))
+ if (PINC & _BV (5))
{
speed_aux0.cons = -speed_aux0.slow << 8;
aux0.traj_mode = AUX_TRAJ_FIND_ZERO_BACK;
}
break;
case AUX_TRAJ_FIND_ZERO_BACK:
- if (!(PINC & _BV (3)))
+ if (!(PINC & _BV (5)))
{
speed_aux0.cons = 0;
state_finish (&state_aux0);
diff --git a/digital/asserv/src/asserv/simu.host.c b/digital/asserv/src/asserv/simu.host.c
index 795ee6a7..eec42f61 100644
--- a/digital/asserv/src/asserv/simu.host.c
+++ b/digital/asserv/src/asserv/simu.host.c
@@ -30,6 +30,8 @@
#include "modules/utils/utils.h"
#include "modules/math/fixed/fixed.h"
+#include "io.h"
+
#include <math.h>
#include <stdlib.h>
#include <stdio.h>
@@ -138,9 +140,10 @@ simu_sensor_update (void)
{ -70.0, -200.0 },
{ 170.0, 0.0 },
};
+ static const uint8_t sensors_bit[] =
+ { _BV (0), _BV (1), _BV (3), };
static const double table_width = 3000.0, table_height = 2100.0;
PINC = 0;
- uint8_t bit = 1;
unsigned int i;
double x, y;
for (i = 0; i < UTILS_COUNT (sensors); i++)
@@ -151,14 +154,12 @@ simu_sensor_update (void)
y = simu_pos_y + sin (simu_pos_a) * sensors[i][0]
+ cos (simu_pos_a) * sensors[i][1];
if (x >= 0.0 && x < table_width && y >= 0.0 && y < table_height)
- PINC |= bit;
- bit <<= 1;
+ PINC |= sensors_bit[i];
}
/** Top zero sensor. */
double aa = simu_aux0_model.th / simu_aux0_model.m.i_G * 3;
if (!(cos (aa) > 0 && fabs (sin (aa)) * 80.0 < 7.5))
- PINC |= bit;
- bit <<= 1;
+ PINC |= _BV (5);
}
/** Do a simulation step. */
diff --git a/digital/asserv/src/asserv/traj.c b/digital/asserv/src/asserv/traj.c
index cdac0538..2b754a26 100644
--- a/digital/asserv/src/asserv/traj.c
+++ b/digital/asserv/src/asserv/traj.c
@@ -149,7 +149,7 @@ traj_gtd (void)
speed = speed_theta.slow;
speed *= 256;
speed_theta.use_pos = speed_alpha.use_pos = 0;
- if (PINC & _BV (2))
+ if (PINC & _BV (3))
{
speed_theta.cons = speed;
speed_alpha.cons = 0;