summaryrefslogtreecommitdiff
path: root/digital/io/src/test/common.host.c
blob: c6586e58ba49f3859b14784f7ee0bde355de6819 (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
/* common.c */
/*  {{{
 *
 * Copyright (C) 2008 Dufour Jérémy
 *
 * 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 "../giboulee.h"

#include <stdio.h>

static uint16_t asserv_arm_position = 0;

/* Yerk export */
enum team_color_e bot_color = RED_TEAM;

/* Define functions for debug */
void
trap_setup_path_to_box (uint8_t box_id)
{
    printf ("[trap] Configure trap doors to open %d.\n", box_id);
}

void
trap_close_rear_panel (void)
{
    printf ("[trap] Closing rear panel.\n");
}

void
trap_open_rear_panel (void)
{
    printf ("[trap] Opening rear panel.\n");
}

void
asserv_move_linearly (int32_t distance)
{
    printf ("[asserv] Make the bot move linearly of %d mm.\n", distance);
}

void
asserv_move_arm (uint16_t position, uint8_t speed)
{
    asserv_arm_position += position;
    printf ("[asserv] Move arm at %d (speed: %d).\n",
	    asserv_arm_position, speed);
}

void
asserv_close_input_hole (void)
{
    printf ("[asserv] Put the arm in front of the input hole.\n");
    asserv_move_arm (asserv_arm_position %
		     BOT_ARM_THIRD_ROUND, BOT_ARM_SPEED);
}

uint16_t
asserv_get_arm_position (void)
{
    return asserv_arm_position;
}

void
asserv_arm_set_position_reached (uint16_t position)
{
    printf ("[asserv] Arm notifier at position %d (we are at %d).\n",
	    position, asserv_arm_position);
}

void
asserv_go_to_distributor (void)
{
    printf ("[asserv] Go to distributor.\n");
}

void
asserv_get_position (void *undef)
{
    printf ("[asserv] Asking position of the bot.\n");
}

void
asserv_goto (uint32_t x, uint32_t y)
{
    printf ("[asserv] Move the bot to (%d; %d).\n", x, y);
}

void
asserv_goto_angle (int16_t angle)
{
    printf ("[asserv] Move the bot to face %X.\n", angle);
}

void
asserv_set_x_position (int32_t x)
{
    printf ("[asserv] Set X position to %d.\n", x);
}

void
asserv_set_y_position (int32_t y)
{
    printf ("[asserv] Set Y position to %d.\n", y);
}

void
asserv_set_angle_position (int16_t a)
{
    printf ("[asserv] Set angle position to %d.\n", a);
}

void
asserv_set_position (int32_t x, int32_t y, int16_t a)
{
    printf ("[asserv] Set bot position to (%d, %d, %d).\n", x, y, a);
}

void
asserv_go_to_the_wall (void)
{
    printf ("[asserv] Go to the wall.\n");
}

void
chrono_init (void)
{
    printf ("[chrono] Chrono init.\n");
}

void
gutter_start (void)
{
    printf ("[FSM:gutter] Start the gutter FSM\n");
}