[Nibo-svn] SF.net SVN: nibo:[301] niborobolib/trunk/code
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[Nibo-svn] SF.net SVN: nibo:[301] niborobolib/trunk/code
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From: <spr...@us...> - 2016-02-25 18:09:41
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Revision: 301
http://sourceforge.net/p/nibo/code/301
Author: springob
Date: 2016-02-25 18:09:38 +0000 (Thu, 25 Feb 2016)
Log Message:
-----------
* nibobee: moved and renamed examples/pidtest to test/test_pid
* burger: added some tests
Modified Paths:
--------------
niborobolib/trunk/code/nibobee/Makefile
niborobolib/trunk/code/niboburger/Makefile
Added Paths:
-----------
niborobolib/trunk/code/nibobee/test/test_pid/
niborobolib/trunk/code/niboburger/test/test_clock/
niborobolib/trunk/code/niboburger/test/test_clock/Makefile
niborobolib/trunk/code/niboburger/test/test_clock/test_clock.c
niborobolib/trunk/code/niboburger/test/test_pid/
niborobolib/trunk/code/niboburger/test/test_pid/Makefile
niborobolib/trunk/code/niboburger/test/test_pid/test_pid.c
niborobolib/trunk/code/niboburger/test/test_straightforward/
niborobolib/trunk/code/niboburger/test/test_straightforward/Makefile
niborobolib/trunk/code/niboburger/test/test_straightforward/test_straightforward.c
Removed Paths:
-------------
niborobolib/trunk/code/nibobee/examples/pidtest/
Modified: niborobolib/trunk/code/nibobee/Makefile
===================================================================
--- niborobolib/trunk/code/nibobee/Makefile 2016-02-25 17:58:01 UTC (rev 300)
+++ niborobolib/trunk/code/nibobee/Makefile 2016-02-25 18:09:38 UTC (rev 301)
@@ -7,8 +7,8 @@
SYSTEM = $(firstword $(subst -,$(SPACE),$(PLATFORM)))
TUTORIAL = program1 program2 program3 program4 program5 program6 program7 program8 program9
-EXAMPLES = bgx1_demo bgx1_test_gfx bgx1_test_image bgx1_test_io bgx1_test_term bgx1_voltage colli2 collision irobst irxs_test line line_parcours pidtest rc5_test roundled
-TEST = calibration first linesensortest test1 test2 test3
+EXAMPLES = bgx1_demo bgx1_test_gfx bgx1_test_image bgx1_test_io bgx1_test_term bgx1_voltage colli2 collision irobst irxs_test line line_parcours rc5_test roundled
+TEST = calibration first linesensortest test1 test2 test3 test_pid
PROGS = $(addprefix tutorial/,$(TUTORIAL)) $(addprefix examples/,$(EXAMPLES)) $(addprefix test/,$(TEST))
Modified: niborobolib/trunk/code/niboburger/Makefile
===================================================================
--- niborobolib/trunk/code/niboburger/Makefile 2016-02-25 17:58:01 UTC (rev 300)
+++ niborobolib/trunk/code/niboburger/Makefile 2016-02-25 18:09:38 UTC (rev 301)
@@ -8,10 +8,8 @@
# TUTORIAL = program1 program2 program3 program4 program5 program6 program7 program8 program9
# EXAMPLES = bgx1_demo bgx1_test_gfx bgx1_test_image bgx1_test_io bgx1_test_term bgx1_voltage colli2 collision irobst irxs_test line line_parcours pidtest rc5_test roundled
-# TEST = calibration first linesensortest test1 test2 test3
+TEST = first follow_me obstacle test_clock test_pid test_straightforward
-TEST = first follow_me obstacle
-
PROGS = $(addprefix tutorial/,$(TUTORIAL)) $(addprefix examples/,$(EXAMPLES)) $(addprefix test/,$(TEST))
Added: niborobolib/trunk/code/niboburger/test/test_clock/Makefile
===================================================================
--- niborobolib/trunk/code/niboburger/test/test_clock/Makefile (rev 0)
+++ niborobolib/trunk/code/niboburger/test/test_clock/Makefile 2016-02-25 18:09:38 UTC (rev 301)
@@ -0,0 +1,30 @@
+TARGET = test_clock
+
+BASEDIR = ../../../..
+
+ifndef PLATFORM
+PLATFORM = niboburger-m16-15
+endif
+
+# Source files
+SRC = test_clock.c
+
+# MATH lib and Stdlib
+#MATH = -lm -Wl,-u,vfprintf -lprintf_flt
+MATH = -lm
+#MATH =
+
+# Nibo library
+LIBS = -lniboburger_surface -lniboburger_bgx1 -lniboburger_usart -lniboburger_pid -lniboburger_base -lniboburger_utils
+
+# Includes
+include $(BASEDIR)/platforms/$(PLATFORM).mk
+include $(BASEDIR)/platforms/niboburger-common.mk
+include $(BASEDIR)/src/version.mk
+
+AVRDUDE_FLAGS += -V
+
+# Dependencies
+ifneq ($(MAKECMDGOALS),clean)
+-include $(OBJS:.o=.d)
+endif
Added: niborobolib/trunk/code/niboburger/test/test_clock/test_clock.c
===================================================================
--- niborobolib/trunk/code/niboburger/test/test_clock/test_clock.c (rev 0)
+++ niborobolib/trunk/code/niboburger/test/test_clock/test_clock.c 2016-02-25 18:09:38 UTC (rev 301)
@@ -0,0 +1,25 @@
+#include <niboburger/robomain.h>
+
+uint8_t mode;
+
+uint8_t prog=0;
+
+void setup() {
+ analog_init();
+ led_init();
+ odometry_init();
+ motpwm_init();
+ motpid_init();
+ motpid_init();
+
+ clock_set_timer(1000);
+}
+
+
+
+void loop() {
+ clock_wait_timer();
+ led_set(1,1);
+ clock_sleep(100);
+ led_set(1,0);
+}
Added: niborobolib/trunk/code/niboburger/test/test_pid/Makefile
===================================================================
--- niborobolib/trunk/code/niboburger/test/test_pid/Makefile (rev 0)
+++ niborobolib/trunk/code/niboburger/test/test_pid/Makefile 2016-02-25 18:09:38 UTC (rev 301)
@@ -0,0 +1,30 @@
+TARGET = test_pid
+
+BASEDIR = ../../../..
+
+ifndef PLATFORM
+PLATFORM = niboburger-m16-15
+endif
+
+# Source files
+SRC = test_pid.c
+
+# MATH lib and Stdlib
+#MATH = -lm -Wl,-u,vfprintf -lprintf_flt
+MATH = -lm
+#MATH =
+
+# Nibo library
+LIBS = -lniboburger_surface -lniboburger_bgx1 -lniboburger_usart -lniboburger_pid -lniboburger_base -lniboburger_utils
+
+# Includes
+include $(BASEDIR)/platforms/$(PLATFORM).mk
+include $(BASEDIR)/platforms/niboburger-common.mk
+include $(BASEDIR)/src/version.mk
+
+AVRDUDE_FLAGS += -V
+
+# Dependencies
+ifneq ($(MAKECMDGOALS),clean)
+-include $(OBJS:.o=.d)
+endif
Added: niborobolib/trunk/code/niboburger/test/test_pid/test_pid.c
===================================================================
--- niborobolib/trunk/code/niboburger/test/test_pid/test_pid.c (rev 0)
+++ niborobolib/trunk/code/niboburger/test/test_pid/test_pid.c 2016-02-25 18:09:38 UTC (rev 301)
@@ -0,0 +1,41 @@
+#include <niboburger/robomain.h>
+
+uint8_t mode;
+
+uint8_t prog=0;
+
+void setup() {
+ analog_init();
+ led_init();
+ odometry_init();
+ motpwm_init();
+ motpid_init();
+}
+
+
+void go(int32_t dist) {
+ int32_t ticks = dist * TICKS_PER_METER / 1000;
+ motpid_setTargetRel (ticks, ticks, 40);
+}
+
+void turn(int16_t deg) {
+ int32_t ticks;
+ if (deg<0) {
+ ticks = -deg;
+ ticks = ticks * TICKS_PER_TURN_SINGLE / 360;
+ motpid_setTargetRel (0, ticks, 20);
+ } else if (deg>0) {
+ ticks = deg;
+ ticks = ticks * TICKS_PER_TURN_SINGLE / 360;
+ motpid_setTargetRel (ticks, 0, 20);
+ }
+}
+
+
+void loop() {
+ analog_wait_update();
+ char key = key_get_char ();
+ if (key=='A') {
+ motpid_setTargetRel (5*TICKS_PER_METER, 0, 40);
+ }
+}
Added: niborobolib/trunk/code/niboburger/test/test_straightforward/Makefile
===================================================================
--- niborobolib/trunk/code/niboburger/test/test_straightforward/Makefile (rev 0)
+++ niborobolib/trunk/code/niboburger/test/test_straightforward/Makefile 2016-02-25 18:09:38 UTC (rev 301)
@@ -0,0 +1,30 @@
+TARGET = test_straightforward
+
+BASEDIR = ../../../..
+
+ifndef PLATFORM
+PLATFORM = niboburger-m16-15
+endif
+
+# Source files
+SRC = test_straightforward.c
+
+# MATH lib and Stdlib
+#MATH = -lm -Wl,-u,vfprintf -lprintf_flt
+MATH = -lm
+#MATH =
+
+# Nibo library
+LIBS = -lniboburger_surface -lniboburger_bgx1 -lniboburger_usart -lniboburger_pid -lniboburger_base -lniboburger_utils
+
+# Includes
+include $(BASEDIR)/platforms/$(PLATFORM).mk
+include $(BASEDIR)/platforms/niboburger-common.mk
+include $(BASEDIR)/src/version.mk
+
+AVRDUDE_FLAGS += -V
+
+# Dependencies
+ifneq ($(MAKECMDGOALS),clean)
+-include $(OBJS:.o=.d)
+endif
Added: niborobolib/trunk/code/niboburger/test/test_straightforward/test_straightforward.c
===================================================================
--- niborobolib/trunk/code/niboburger/test/test_straightforward/test_straightforward.c (rev 0)
+++ niborobolib/trunk/code/niboburger/test/test_straightforward/test_straightforward.c 2016-02-25 18:09:38 UTC (rev 301)
@@ -0,0 +1,88 @@
+#include <niboburger/robomain.h>
+
+uint8_t mode;
+
+uint8_t prog=0;
+
+void setup() {
+ analog_init();
+ led_init();
+ odometry_init();
+ motpwm_init();
+ motpid_init();
+}
+
+
+void go(int32_t dist) {
+ int32_t ticks = dist * TICKS_PER_METER / 1000;
+ motpid_setTargetRel (ticks, ticks, 40);
+}
+
+void turn(int16_t deg) {
+ int32_t ticks;
+ if (deg<0) {
+ ticks = -deg;
+ ticks = ticks * TICKS_PER_TURN_SINGLE / 360;
+ motpid_setTargetRel (0, ticks, 20);
+ } else if (deg>0) {
+ ticks = deg;
+ ticks = ticks * TICKS_PER_TURN_SINGLE / 360;
+ motpid_setTargetRel (ticks, 0, 20);
+ }
+}
+
+
+void loop() {
+ analog_wait_update();
+ char key = key_get_char ();
+ if (key=='A') {
+ prog=1;
+ go(2900);
+ led_setall(0, 1, 1, 0);
+ } else if (key=='B') {
+ turn(-90);
+ led_setall(1, 0, 0, 0);
+ } else if (key=='C') {
+ motpwm_setLeft(800);
+ motpwm_setRight(800);
+ odometry_reset();
+ mode=1;
+ //turn(+90);
+ led_setall(0, 0, 0, 1);
+ }
+
+
+
+
+
+
+
+
+
+ if (mode) {
+ if (odometry_getLeft(0)>TICKS_PER_METER) {
+ mode=0;
+ motpwm_stop();
+ led_setall(0, 0, 0, 0);
+
+ }
+ } else if (motpid_getTargetDist()<6) {
+ motpid_release();
+ motpwm_stop();
+ led_setall(0, 0, 0, 0);
+ delay(250);
+
+ if (prog==1) {
+ prog=2;
+ turn(90);
+ led_setall(0, 0, 1, 1);
+ } else if (prog==2) {
+ prog=3;
+ go(800);
+ led_setall(1, 1, 1, 1);
+ }
+
+
+ }
+
+}
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