From 80b3da91dac28a5895a8cb9f0477a7008365dd56 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 1 Apr 2010 23:57:20 +0200 Subject: digital/io: wipe-out old robot code, closes #112 --- digital/io/src/test/move/Makefile | 13 ---- digital/io/src/test/move/main.c | 135 -------------------------------------- 2 files changed, 148 deletions(-) delete mode 100644 digital/io/src/test/move/Makefile delete mode 100644 digital/io/src/test/move/main.c (limited to 'digital/io/src/test/move') diff --git a/digital/io/src/test/move/Makefile b/digital/io/src/test/move/Makefile deleted file mode 100644 index 4b301734..00000000 --- a/digital/io/src/test/move/Makefile +++ /dev/null @@ -1,13 +0,0 @@ -BASE= ../../../../avr -HOST_PROGS = fsm -IOBASE = ../.. -fsm_SOURCES = main.c $(IOBASE)/fsm.c \ - $(IOBASE)/move_cb.c $(IOBASE)/move_fsm.c \ - $(IOBASE)/move.c -MODULES = utils -CONFIGFILE = -# -O2 : speed -# -Os : size -OPTIMIZE = -O2 - -include $(BASE)/make/Makefile.gen diff --git a/digital/io/src/test/move/main.c b/digital/io/src/test/move/main.c deleted file mode 100644 index 25ca08b7..00000000 --- a/digital/io/src/test/move/main.c +++ /dev/null @@ -1,135 +0,0 @@ -/* main.c */ -/* {{{ - * - * Copyright (C) 2008 NĂ©lio Laranjeiro - * - * APBTeam: - * Web: http://apbteam.org/ - * Email: team AT apbteam DOT org - * - * 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 "common.h" -#include "../../fsm.h" -#include "../../asserv.h" -#include "../../move.h" - -#include - -/** - * Status structure maintains by the update command. - */ -typedef struct asserv_struct_s -{ - /** Status flags. */ - uint8_t status; - /** Sequence number. */ - uint8_t seq; - /** Bot position. */ - asserv_position_t position; - /** Arm position. */ - uint16_t arm_position; -} asserv_struct_s; - -/** - * Status variable. - */ -asserv_struct_s asserv_status; - - -void -move_print_test (fsm_t *move) -{ - printf ("Machine state "); - - switch (move->state_current) - { - case MOVE_STATE_IDLE: - printf ("IDLE"); - break; - case MOVE_STATE_DESIRED_POSITION: - printf ("DESIRED POSITION"); - break; - case MOVE_STATE_MOVE_ON_RIGHT: - printf ("MOVE ON RIGHT"); - break; - case MOVE_STATE_MOVE_ON_LEFT: - printf ("MOVE ON LEFT"); - break; - default: - printf ("STATE_NB"); - } - printf ("\n"); -} - -int -main (void) -{ - move_data.position_x = asserv_status.position.x = 1500; - move_data.position_y = asserv_status.position.y = 1050; - - fsm_init (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_start); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_blocked); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_blocked); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_blocked); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_blocked); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_reached); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_blocked); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_reached); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_blocked); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_reached); - move_print_test (&move_fsm); - - fsm_handle_event (&move_fsm, MOVE_EVENT_reached); - move_print_test (&move_fsm); - - return 0; -} - -void -asserv_goto (uint32_t x, uint32_t y) -{ - printf ("x : %d\n", x); - printf ("y : %d\n", y); -} - -void -asserv_get_position (asserv_position_t *pos) -{ - pos->x = asserv_status.position.x; - pos->y = asserv_status.position.y; -} - -- cgit v1.2.3