[tuxdroid-svn] r837 - firmware/tuxcore/trunk

[Paul_R <c2m...@c2...>]

Author: Paul_R
Date: 2008-01-07 17:42:34 +0100 (Mon, 07 Jan 2008)
New Revision: 837

Modified:
   firmware/tuxcore/trunk/motors.c
   firmware/tuxcore/trunk/motors.h
Log:
* Removed the backup structures (motors_t)


Modified: firmware/tuxcore/trunk/motors.c
===================================================================
--- firmware/tuxcore/trunk/motors.c	2008-01-07 16:30:37 UTC (rev 836)
+++ firmware/tuxcore/trunk/motors.c	2008-01-07 16:42:34 UTC (rev 837)
@@ -31,18 +31,10 @@
 #include "motors.h"
 #include "common/defines.h"
 /**
- * \name Motors structures
+ * \name Motors PWM 
  * @{ */
-motors_t eyes_params;
-motors_t mouth_params;
-motors_t flippers_params =
-{
-    .pwm = 5,
-};
-motors_t spin_params =
-{
-    .pwm = 5,
-};
+uint8_t flippers_params_pwm = 5;
+uint8_t spin_params_pwm = 5;
 /*! @} */
 
 /**
@@ -185,73 +177,58 @@
    \brief Parse the MOTORS_SET_CMD to command a motor with a specific number of movements.
    \param motor The motor to command
    \param value The number of movements or/ the timeout valueto execute
-   \param params bit 0 & 1 : The final state; bit 2 : 0 for count, 1 for timeout
+   \param param bit 0 : 0 for count, 1 for timeout
  */
 void motors_run(uint8_t motor, uint8_t const value, uint8_t const param)
 {
     uint8_t cnt;
+    
     if (motor == MOT_EYES)
     {
         if (param & 0x01)
         {
-            eyes_params.delay = value;
             eyes_stop_delay = value;
             cnt = 0;
         }
         else
-        {
-            eyes_params.count = value;
             cnt = value;
-        } 
         blink_eyes(cnt);
     }
     else if (motor == MOT_MOUTH)
     {
         if (param & 0x01)
         {
-            mouth_params.delay = value;
             mouth_stop_delay = value;
             cnt = 0;
         }
         else
-        {
-            mouth_params.count = value;
             cnt = value;
-        } 
         move_mouth(cnt);
     }
     else if (motor == MOT_FLIPPERS)
     {
         if (param & 0x01)
         {
-            flippers_params.delay = value;
             flippers_stop_delay = value;
             cnt = 0;
         }
         else
-        {
-            flippers_params.count = value;
             cnt = value;
-        } 
-        wave_flippers(cnt, flippers_params.pwm);
+        wave_flippers(cnt, flippers_params_pwm);
     }
     else if (motor == (MOT_SPIN_L) || motor == (MOT_SPIN_R))
     {
         if (param & 0x01)
         {
-            spin_params.delay = value;
             spin_stop_delay = value;
             cnt = 0;
         }
         else
-        {
-            spin_params.count = value;
             cnt = value;
-        } 
         if (motor == MOT_SPIN_L)
-            spin_left(value, spin_params.pwm);
+            spin_left(value, spin_params_pwm);
         else
-            spin_right(value, spin_params.pwm);
+            spin_right(value, spin_params_pwm);
     }
 }
 
@@ -261,18 +238,17 @@
    \param pwm The PWM value
    
    The PWM can be used only for the spinning and the flippers.
-
  */
 void motors_config(uint8_t const motor, uint8_t const pwm)
 {
     if (motor == MOT_FLIPPERS)
     {
-        flippers_params.pwm = pwm;
+        flippers_params_pwm = pwm;
         flippers_PWM = pwm;
     }
     else if (motor == (MOT_SPIN_L) || motor == (MOT_SPIN_R))
     {
-        spin_params.pwm = pwm;
+        spin_params_pwm = pwm;
         spin_PWM = pwm;
     }
 }

Modified: firmware/tuxcore/trunk/motors.h
===================================================================
--- firmware/tuxcore/trunk/motors.h	2008-01-07 16:30:37 UTC (rev 836)
+++ firmware/tuxcore/trunk/motors.h	2008-01-07 16:42:34 UTC (rev 837)
@@ -106,19 +106,4 @@
  */
 extern void motor_control(void);
 
-/*
- * Motors status structure
- */
-typedef struct motors_t
-{
-    uint8_t count;
-    uint8_t pwm;
-    uint8_t delay;
-} motors_t;
-
-extern motors_t eyes_params;
-extern motors_t mouth_params;
-extern motors_t flippers_params;
-extern motors_t spin_params;
-
 #endif /* _MOTORS_H_ */