[Krobot-commits] [SCM] krobot branch, master, updated. 731b470ef6cd5b6d93a2b2e2a85182f1c535b4b8

[Xavier L. <Ba...@us...>]

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- Log -----------------------------------------------------------------
commit 731b470ef6cd5b6d93a2b2e2a85182f1c535b4b8
Author: Xavier Lagorce <Xav...@cr...>
Date:   Thu Apr 21 13:56:21 2011 +0200

    [Controller_Motor_STM32] Show differential drive status on LED1 with indicator thread.

-----------------------------------------------------------------------

Changes:
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.c
index a132452..578cbdd 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.c
@@ -343,10 +343,13 @@ uint8_t dd_add_bezier(float x_end, float y_end, float d1, float d2, float end_an
 }
 
 uint8_t dd_get_ghost_state(robot_state_t *state, float *u) {
-  state->x = params.ghost_state.x;
-  state->y = params.ghost_state.y;
-  state->theta = params.ghost_state.theta;
-  *u = params.u;
+  if (state != NULL) {
+    state->x = params.ghost_state.x;
+    state->y = params.ghost_state.y;
+    state->theta = params.ghost_state.theta;
+  }
+  if (u != NULL)
+    *u = params.u;
 
   if (params.working == 1)
     return DD_GHOST_MOVING;
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.h b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.h
index 96a8241..73d6944 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.h
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/differential_drive.h
@@ -100,6 +100,8 @@ uint8_t dd_add_bezier(float x_end, float y_end, float d1, float d2, float end_an
  *  - state : pointer to a robot_state_t structure where the ghost state will be written
  *  - u : pointer to a float in which to write the current value of the parameter on the spline
  *
+ * If one of these pointers is NULL, the associated value won't be written.
+ *
  * return value :
  *  - DD_GHOST_MOVING : if a trajectory is currently followed
  *  - DD_GHOST_STOPPED : if the ghost robot is stopped
diff --git a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c
index 9efbc67..4b10660 100644
--- a/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c
+++ b/elec/boards/Controller_Motor_STM32/Firmware/controller_motor_stm32/main.c
@@ -94,7 +94,7 @@ static void init(void)
 static void NORETURN ind_process(void)
 {
   while(1) {
-    if (tc_is_working(MOTOR3 | MOTOR4)) {
+    if (dd_get_ghost_state(NULL, NULL) == DD_GHOST_MOVING) {
       LED1_ON();
     } else {
       LED1_OFF();


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