[tuxdroid-svn] r840 - in firmware: tuxcore/trunk tuxdefs

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

Author: Paul_R
Date: 2008-01-11 10:08:02 +0100 (Fri, 11 Jan 2008)
New Revision: 840

Modified:
   firmware/tuxcore/trunk/motors.c
   firmware/tuxdefs/defines.h
Log:
* Fixed a bug with the PWM values of the wings and the spinning motors.
* Fixed a bug with the final position on the open_mouth and close_mouth
  functions.


Modified: firmware/tuxcore/trunk/motors.c
===================================================================
--- firmware/tuxcore/trunk/motors.c	2008-01-08 15:52:18 UTC (rev 839)
+++ firmware/tuxcore/trunk/motors.c	2008-01-11 09:08:02 UTC (rev 840)
@@ -513,30 +513,42 @@
    \brief Open the mouth.
    \ingroup mouth
 
-   Open the mouth if they are closed.
+   This function open the mouth if it's not already open.  
+   The command is sent only if the mouth is not open or if the motor is
+   running.  
+   We don't know the absolute mouth position. So, a command is sent
+   with 2 movements, and a flag is set to specify the final position. When the
+   final position is reached, the mouth_move_counter is reinitialized, and the
+   motor will stop.
  */
 void open_mouth(void)
 {
-    if (!(PSW_MOUTH_PIN & PSW_MOUTH_C_MK))
-        move_mouth(1);
-    if (MOT_MOUTH_PT |= MOT_MOUTH_MK)
-        mouth_final_state = MOUTH_OPENED;
+    if (PSW_MOUTH_PIN & PSW_MOUTH_O_MK || MOT_MOUTH_PT & MOT_MOUTH_MK)
+    {
         move_mouth(2);
+        mouth_final_state = MOUTH_OPEN;
+    }
 }
 
 /**
    \brief Close the mouth.
    \ingroup mouth
 
-   Close the mouth if they are opened.
+   This function close the mouth if it's not already closed.  
+   The command is sent only if the mouth is not closed or if the motor is
+   running.  
+   We don't know the absolute mouth position. So, a command is sent
+   with 2 movements, and a flag is set to specify the final position. When the
+   final position is reached, the mouth_move_counter is reinitialized, and the
+   motor will stop.
  */
 void close_mouth(void)
 {
-    if (!(PSW_MOUTH_PIN & PSW_MOUTH_O_MK))
-        move_mouth(1);
-    if (MOT_MOUTH_PT |= MOT_MOUTH_MK)
+    if (PSW_MOUTH_PIN & PSW_MOUTH_C_MK || MOT_MOUTH_PT & MOT_MOUTH_MK)
+    {
+        move_mouth(2);
         mouth_final_state = MOUTH_CLOSED;
-        move_mouth(2);
+    }
 }
 
 /**
@@ -565,7 +577,7 @@
             mouth_move_counter--;
             if (mouth_final_state != MOUTH_UNKNOWN)
             {
-                if ((mouth_final_state == MOUTH_OPENED) && !(PSW_MOUTH_PIN & PSW_MOUTH_O_MK))
+                if ((mouth_final_state == MOUTH_OPEN) && !(PSW_MOUTH_PIN & PSW_MOUTH_O_MK))
                     mouth_move_counter = 0;
                 else if ((mouth_final_state == MOUTH_CLOSED) && !(PSW_MOUTH_PIN & PSW_MOUTH_C_MK))
                     mouth_move_counter = 0;
@@ -645,6 +657,7 @@
     //flippers_stop_delay = 0;
     MOT_FLIPPERS_BW_PT &= ~MOT_FLIPPERS_BW_MK;
     flippers_PWMMask |= MOT_FLIPPERS_FW_MK;
+    PORTB |= flippers_PWMMask;
 }
 
 /**
@@ -828,6 +841,7 @@
     spin_PWM = pwm;
     spin_PWM_mask &= ~MOT_SPIN_R_MK;
     spin_PWM_mask |= MOT_SPIN_L_MK;
+    PORTB |= portB_PWM_mask;
 }
 
 /**
@@ -851,6 +865,7 @@
     spin_PWM = pwm;
     spin_PWM_mask &= ~MOT_SPIN_L_MK;
     spin_PWM_mask |= MOT_SPIN_R_MK;
+    PORTB |= portB_PWM_mask;
 }
 /**
    \brief Spin position interrupt.

Modified: firmware/tuxdefs/defines.h
===================================================================
--- firmware/tuxdefs/defines.h	2008-01-08 15:52:18 UTC (rev 839)
+++ firmware/tuxdefs/defines.h	2008-01-11 09:08:02 UTC (rev 840)
@@ -194,10 +194,13 @@
 typedef enum
 {
     MOUTH_UNKNOWN,
-    MOUTH_OPENED,
+    MOUTH_OPEN,
     MOUTH_CLOSED,
 } MOUTH_POSITION_t;
 
+#define MOTORS_CMD_MASK 0x7F
+#define MOTORS_VALUE_MASK 0x80
+
 /**
  * Type indicating the motor
  */
@@ -209,18 +212,18 @@
     MOT_SPIN_L,
     MOT_SPIN_R,
 } MOTOR_TYPE_t;
+ 
 
+
 /**
- * Type indicating the final position
+ * Defines indicating the final position
  */
-typedef enum
-{
-    FP_OPEN = 0,
-    FP_UP = 0,
-    FP_CLOSE = 1,
-    FP_DOWN = 1,
-    FP_UNDEFINED = 2,
-} MOT_FINAL_POS_t;
+#define FP_EYES_CLOSE 0x80
+#define FP_EYES_OPEN  0x40
+#define FP_MOUTH_CLOSE 0x10
+#define FP_MOUTH_OPEN 0x08
+#define FP_FLIPPERS_UP 0x04
+#define FP_FLIPPERS_DOWN 0x02
 
 /**
  * Type indicating the status