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- Log -----------------------------------------------------------------
commit 6372a8e32c1daf34673376822b685c0f6468ecb1
Author: Xavier Lagorce <Xav...@cr...>
Date: Mon Apr 11 16:23:13 2011 +0200
[Controller_Motor_STM32] More relevant blinky in HIL mode
-----------------------------------------------------------------------
Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
index 4875872..14f0777 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/motor_controller.c
@@ -34,7 +34,7 @@ typedef struct
uint16_t last_encoder_pos; // Last encoder position measured
float F[4]; // evolution matrix
float G[2]; // command application matrix
- ticks_t T; // sampling period in seconds
+ float T; // sampling period in seconds
} control_params_t;
static control_params_t controllers[4];
@@ -196,17 +196,41 @@ static void NORETURN motorController_HIL_process(void) {
} else {
timer_add(&timer);
- if (last_t >= 1.0) {
+ if (last_t >= 0.2) {
if (led_state == 0) {
led_state = 1;
- LED3_ON();
- LED4_ON();
+ switch (params->motor) {
+ case MOTOR1:
+ LED1_ON();
+ break;
+ case MOTOR2:
+ LED2_ON();
+ break;
+ case MOTOR3:
+ LED3_ON();
+ break;
+ case MOTOR4:
+ LED4_ON();
+ break;
+ }
} else {
led_state = 0;
- LED3_ON();
- LED4_ON();
+ switch (params->motor) {
+ case MOTOR1:
+ LED1_OFF();
+ break;
+ case MOTOR2:
+ LED2_OFF();
+ break;
+ case MOTOR3:
+ LED3_OFF();
+ break;
+ case MOTOR4:
+ LED4_OFF();
+ break;
+ }
}
- last_t -= 1.0;
+ last_t -= 0.2;
}
// Compute "state estimation"
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krobot
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