[tuxdroid-svn] r512 - firmware/tuxcore/trunk
Status: Beta
Brought to you by:
ks156
Menu
▾
▴
[tuxdroid-svn] r512 - firmware/tuxcore/trunk
|
From: jaguarondi <c2m...@c2...> - 2007-09-12 11:07:17
|
Author: jaguarondi
Date: 2007-09-12 13:07:13 +0200 (Wed, 12 Sep 2007)
New Revision: 512
Modified:
firmware/tuxcore/trunk/main.c
firmware/tuxcore/trunk/motors.c
firmware/tuxcore/trunk/motors.h
firmware/tuxcore/trunk/parser.c
firmware/tuxcore/trunk/standalone.c
Log:
* Moved motor_control from the interface to the module as it's not called from
an interrupt anymore.
* Reorganized the eyes functions, moved a couple of them from the interface to
the module, added a couple of comments.
* Removed a few unused stuff.
Modified: firmware/tuxcore/trunk/main.c
===================================================================
--- firmware/tuxcore/trunk/main.c 2007-09-12 09:21:16 UTC (rev 511)
+++ firmware/tuxcore/trunk/main.c 2007-09-12 11:07:13 UTC (rev 512)
@@ -307,7 +307,7 @@
FifoPut(statusFifo, mouth_move_counter);
FifoPut(statusFifo, flippers_move_counter);
FifoPut(statusFifo, STATUS_POSITION2_CMD);
- FifoPut(statusFifo, spin_stop_delay);
+ FifoPut(statusFifo, spin_move_counter);
FifoPut(statusFifo, gStatus.pos);
FifoPut(statusFifo, 0);
if (light_f) /* send light measurement */
Modified: firmware/tuxcore/trunk/motors.c
===================================================================
--- firmware/tuxcore/trunk/motors.c 2007-09-12 09:21:16 UTC (rev 511)
+++ firmware/tuxcore/trunk/motors.c 2007-09-12 11:07:13 UTC (rev 512)
@@ -30,6 +30,10 @@
#include "global.h"
#include "motors.h"
+/**
+ * \name Braking delays
+ * These functions access the motor I/O port.
+ * @{ */
/** Delay during which the motor is inverted when braking the eyes to stop them
* in the close position. There's no need to brake the motor when opening the
* eyes with this gearbox design. */
@@ -44,6 +48,7 @@
* them either up or down. If we don't brake here, the flippers end up in a
* medium position. */
#define FLIPPERS_BRAKING_DLY 4
+/*! @} */
/** Init value of the timer used to reset the flippers in the low position. */
#define FLIP_TIMER_INIT 0xFF
/** Minimum difference required between the period the flippers are moving from
@@ -53,7 +58,7 @@
/** Number of periods remaining before stopping the flippers.
* Normally used when braking, to stop the motor after a short period of
* inversion. */
-uint8_t flippers_stop_delay;
+static uint8_t flippers_stop_delay;
/** Number of movements remaining before stopping the flippers. */
uint8_t flippers_move_counter;
/** PWM applied on the flippers motor. */
@@ -66,19 +71,19 @@
/** Number of periods remaining before stopping the eyes.
* Normally used when braking, to stop the motor after a short period of
* inversion. */
-uint8_t eyes_stop_delay;
+static uint8_t eyes_stop_delay;
/** Number of movements remaining before stopping the flippers. */
uint8_t eyes_move_counter;
/** Number of periods remaining before stopping the mouth.
* Normally used when braking, to stop the motor after a short period of
* inversion. */
-uint8_t mouth_stop_delay;
+static uint8_t mouth_stop_delay;
/** Number of movements remaining before stopping the mouth. */
uint8_t mouth_move_counter;
/** Number of periods remaining before stopping the rotation.
* Normally used when braking, to stop the motor after a short period of
* inversion. */
-uint8_t spin_stop_delay;
+static uint8_t spin_stop_delay;
/** Number of movements remaining before stopping the rotation. */
uint8_t spin_move_counter;
/** PWM applied on the spinning motor. */
@@ -91,73 +96,112 @@
/** PWM mask register applied on the port on a regular basis. */
uint8_t portB_PWM_mask;
+/**
+ * \name Low level motor control
+ * These functions access the motor I/O port.
+ * @{ */
+/** Stop the eyes motor. */
+#define stop_eyes_motor() {MOT_EYES_PT &= ~(MOT_EYES_MK | MOT_IEYES_MK);}
+
+/** Start the eyes motor. */
+#define run_eyes_motor() {(MOT_EYES_PT &= ~MOT_IEYES_MK); \
+ (MOT_EYES_PT |= MOT_EYES_MK);}
+/** Invert the eyes motor. */
+#define invert_eyes_motor() {(MOT_EYES_PT &= ~MOT_EYES_MK); \
+ (MOT_EYES_PT |= MOT_IEYES_MK);}
+/*! @} */
+
+/**
+ * \name Eyes functions
+ * @{ */
+
/**
- \brief Wings position interrupt
- \ingroup flippers
+ \brief Stop the eyes
+ \ingroup eyes
- This interrupt stops the flippers when the desired number of movements have
- been executed. In order to stop the flippers quickly and block the motor, we
- need to invert the motor for a small duration.
+ The eyes motor will stop immediately, even if the eyes are not in the open
+ or close position. Use open_eyes or close_eyes instead if you want to stop
+ them in a given position.
+ */
+void stop_eyes(void)
+{
+ stop_eyes_motor();
+}
- When the signal is switching from high to low (switch pushed), the number of
- movements is decreased and when null, the flippers motor is switched
- backwards and will be stopped by timer0 overflow after the
- FLIPPERS_BRAKING_DLY period. So we only count when the switch is pushed but
- not when it is released. As the interrupt triggers on a signal change, we
- need to suppress the release interrupt.
+/**
+ \brief Blink the eyes
+ \ingroup eyes
+
+ \param cnt number of movements before the flippers will stop
+ \note Any mouth command is cancelled
+
+ The eyes will start blinking until 'cnt' movements are executed. A movement
+ is raising or lowering the eyelids. 'cnt' can be up to 256. If 'cnt' is
+ null, waving will run indefinitely.
*/
-ISR(SIG_PIN_CHANGE1)
+void blink_eyes(uint8_t cnt)
{
- /* We only count when the switch is pushed, not released. */
- if (~PSW_WINGS_PIN & PSW_WINGS_MK)
- {
- /* This test prevents the toggle when the flippers are pushed. The
- * flippers motor must be switched on (flippers_PWM <> 0) to toggle the
- * position */
- if (flippers_PWM)
- gStatus.pos ^= GSTATUS_POS_W0; /* toggle wigs position */
+ eyes_move_counter = cnt;
+ eyes_stop_delay = 0;
+ run_eyes_motor();
+}
- if (flippers_timer) /* if we need to reposition the flippers */
- {
- if (flippers_move_counter == 1)
- {
- if ((flippers_revious_timer) && (flippers_timer <
- (flippers_revious_timer - FLIPPERS_RESETTIMER_HYST)))
- {
- /* flippers are down */
- /* Position reached so init gStatus.pos bit to lower
- * position */
- gStatus.pos &= ~GSTATUS_POS_W0;
- flippers_timer = 0;
- flippers_revious_timer = 0;
- }
- else /* continue */
- {
- /* Unknow position, execute another movement to determine
- * it */
- flippers_revious_timer = flippers_timer;
- flippers_timer = FLIP_TIMER_INIT;
- return;
- }
- }
- else
- flippers_timer = FLIP_TIMER_INIT;
- }
+/**
+ \brief Open the eyes
+ \ingroup eyes
- if (flippers_move_counter)
- {
- flippers_move_counter--;
- if (!flippers_move_counter)
- {
- stopWings();
- runWingsBw();
- flippers_stop_delay = FLIPPERS_BRAKING_DLY;
- }
- }
- }
+ Open the eyes if they are closed.
+
+ The eyes can be in three different states and should have a different
+ behavior in all states.
+ - Eyes opened - no movement is required.
+ - Eyes closed - Just one movement is required to open the eyes.
+ - indeterminated - two movements are required.
+
+ To prevent that the motor can be activated when the eyes are opened and to
+ stop the eyes in the open state by sending the open_eyes_cmd when they're
+ blinking, eyes_move_counter is initalised but the blink_eyes function isn't
+ call.
+ If the motor is running, it will execute two movements before stop. If the
+ motor isn't switched on, nothing happens.
+
+ \note XXX The computer side (API, daemon) must know than eyes_move_counter
+ can be not null with the motor switched off.
+ */
+void open_eyes(void)
+{
+ if ((PSW_EYES_PIN & PSW_EYES_O_MK) && (PSW_EYES_PIN & PSW_EYES_C_MK))
+ blink_eyes(2);
+
+ else if (!(PSW_EYES_PIN & PSW_EYES_C_MK))
+ blink_eyes(1);
+
+ else
+ eyes_move_counter = 2;
}
/**
+ \brief Close the eyes
+ \ingroup eyes
+
+ Close the eyes if they are opened.
+
+ When the close_eyes_cmd is received, if the eyes are closed, nothing
+ happens. But, when the eyes are blinking, this command must stop the eyes
+ in the closed position. To do this, eyes_move_counter is initialised, but
+ the blink_eyes function isn't call. So, if the command is received when the
+ eyes are blinking, two movements are executed before the motor is stopped.
+ */
+void close_eyes(void)
+{
+ if (PSW_EYES_PIN & PSW_EYES_C_MK)
+ blink_eyes(1);
+
+ else
+ eyes_move_counter = 2;
+}
+
+/**
\brief Eyes position interrupt
\ingroup eyes
@@ -190,12 +234,13 @@
eyes_move_counter--;
if (!eyes_move_counter)
{
- stopEyes();
- runIEyes();
+ stop_eyes_motor();
+ invert_eyes_motor();
eyes_stop_delay = EYES_BRAKING_DLY;
}
}
}
+/*! @} */
/**
\brief Mouth position interrupt
@@ -239,6 +284,72 @@
}
/**
+ \brief Wings position interrupt
+ \ingroup flippers
+
+ This interrupt stops the flippers when the desired number of movements have
+ been executed. In order to stop the flippers quickly and block the motor, we
+ need to invert the motor for a small duration.
+
+ When the signal is switching from high to low (switch pushed), the number of
+ movements is decreased and when null, the flippers motor is switched
+ backwards and will be stopped by timer0 overflow after the
+ FLIPPERS_BRAKING_DLY period. So we only count when the switch is pushed but
+ not when it is released. As the interrupt triggers on a signal change, we
+ need to suppress the release interrupt.
+ */
+ISR(SIG_PIN_CHANGE1)
+{
+ /* We only count when the switch is pushed, not released. */
+ if (~PSW_WINGS_PIN & PSW_WINGS_MK)
+ {
+ /* This test prevents the toggle when the flippers are pushed. The
+ * flippers motor must be switched on (flippers_PWM <> 0) to toggle the
+ * position */
+ if (flippers_PWM)
+ gStatus.pos ^= GSTATUS_POS_W0; /* toggle wigs position */
+
+ if (flippers_timer) /* if we need to reposition the flippers */
+ {
+ if (flippers_move_counter == 1)
+ {
+ if ((flippers_revious_timer) && (flippers_timer <
+ (flippers_revious_timer - FLIPPERS_RESETTIMER_HYST)))
+ {
+ /* flippers are down */
+ /* Position reached so init gStatus.pos bit to lower
+ * position */
+ gStatus.pos &= ~GSTATUS_POS_W0;
+ flippers_timer = 0;
+ flippers_revious_timer = 0;
+ }
+ else /* continue */
+ {
+ /* Unknow position, execute another movement to determine
+ * it */
+ flippers_revious_timer = flippers_timer;
+ flippers_timer = FLIP_TIMER_INIT;
+ return;
+ }
+ }
+ else
+ flippers_timer = FLIP_TIMER_INIT;
+ }
+
+ if (flippers_move_counter)
+ {
+ flippers_move_counter--;
+ if (!flippers_move_counter)
+ {
+ stopWings();
+ runWingsBw();
+ flippers_stop_delay = FLIPPERS_BRAKING_DLY;
+ }
+ }
+ }
+}
+
+/**
\brief Spin position interrupt
\ingroup spin
@@ -250,15 +361,15 @@
*/
ISR(SIG_INTERRUPT1)
{
- if (spin_stop_delay)
+ if (spin_move_counter)
{
- spin_stop_delay--;
+ spin_move_counter--;
- if (!spin_stop_delay)
+ if (!spin_move_counter)
{
spin_PWM_mask &= ~MOT_SPIN_MK;
stopSpinMot();
- spin_move_counter = SPIN_BRAKING_DLY;
+ spin_stop_delay = SPIN_BRAKING_DLY;
if (spin_direction == LEFT)
spin_PWM_mask |= MOT_SPIN_R_MK;
else
@@ -310,12 +421,6 @@
PSW_SPIN_DDR |= PSW_SPIN_MK;
}
-uint8_t getPosSwitches(void)
-{
- // return (PINB & PSW_MK);
- return 0;
-}
-
/*
* Set motors I/O as output
*/
@@ -420,79 +525,6 @@
}
/**
- \brief Blink the eyes
- \ingroup eyes
-
- \param cnt number of movements before the flippers will stop
- \note Any mouth command is cancelled
-
- The eyes will start blinking until 'cnt' movements are executed. A movement
- is raising or lowering the eyelids. 'cnt' can be up to 256. If 'cnt' is
- null, waving will run indefinitely.
- */
-void blinkEyes(uint8_t cnt)
-{
- eyes_move_counter = cnt;
- eyes_stop_delay = 0;
- runEyes();
-}
-
-/**
- \brief Open the eyes
- \ingroup eyes
-
- Open the eyes if they are closed.
-
- The eyes can be in three different states and should have a different
- behavior in all states.
- - Eyes opened - no movement is required.
- - Eyes closed - Just one movement is required to open the eyes.
- - indeterminated - two movements are required.
-
- To prevent that the motor can be activated when the eyes are opened and to
- stop the eyes in the open state by sending the open_eyes_cmd when they're
- blinking, eyes_move_counter is initalised but the blinkEyes function isn't
- call.
- If the motor is running, it will execute two movements before stop. If the
- motor isn't switched on, nothing happens.
-
- \note XXX The computer side (API, daemon) must know than eyes_move_counter
- can be not null with the motor switched off.
- */
-void openEyes(void)
-{
- if ((PSW_EYES_PIN & PSW_EYES_O_MK) && (PSW_EYES_PIN & PSW_EYES_C_MK))
- blinkEyes(2);
-
- else if (!(PSW_EYES_PIN & PSW_EYES_C_MK))
- blinkEyes(1);
-
- else
- eyes_move_counter = 2;
-}
-
-/**
- \brief Close the eyes
- \ingroup eyes
-
- Close the eyes if they are opened.
-
- When the close_eyes_cmd is received, if the eyes are closed, nothing
- happens. But, when the eyes are blinking, this command must stop the eyes
- in the closed position. To do this, eyes_move_counter is initialised, but
- the blinkEyes function isn't call. So, if the command is received when the
- eyes are blinking, two movements are executed before the motor is stopped.
- */
-void closeEyes(void)
-{
- if (PSW_EYES_PIN & PSW_EYES_C_MK)
- blinkEyes(1);
-
- else
- eyes_move_counter = 2;
-}
-
-/**
\brief Move the mouth
\ingroup mouth
\note Any eye command is cancelled
@@ -533,12 +565,21 @@
moveMouth(1);
}
+/**
+ \brief Stop the spinning motor
+ \ingroup primitives
+ */
void stopSpin(void)
{
spin_PWM_mask &= ~MOT_SPIN_MK;
stopSpinMot();
}
+/**
+ \brief Spin left for the \c angle amount
+ \param angle Angle to turn, in 90° unit
+ \ingroup spin
+ */
void spinLeft(uint8_t angle, uint8_t pwm)
{
/* Check if direction is changing and if pos. switch isn't push. Then,
@@ -548,23 +589,117 @@
angle += 1;
}
spin_direction = LEFT;
- spin_stop_delay = angle;
+ spin_move_counter = angle;
spin_PWM = pwm;
spin_PWM_mask &= ~MOT_SPIN_R_MK;
spin_PWM_mask |= MOT_SPIN_L_MK;
}
+/**
+ \brief Spin right for the \c angle amount
+ \param angle Angle to turn, in 90° unit
+ \ingroup spin
+ */
void spinRight(uint8_t angle, uint8_t pwm)
{
- /* Check if direction is changing and if pos. switch isn't push. Then,
- * increment angle value to prevent too short rotation */
+ /* If the rotation direction is changing and we are not stopped exactly on
+ * the switch (position switch not pressed), we need to increment the angle
+ * value to prevent counting the first switch detection that will happen as
+ * soon as the rotation starts. */
if (spin_direction == LEFT && (PSW_SPIN_PIN & PSW_SPIN_MK))
- {
- angle += 1;
- }
+ angle++;
spin_direction = RIGHT;
- spin_stop_delay = angle;
+ spin_move_counter = angle;
spin_PWM = pwm;
spin_PWM_mask &= ~MOT_SPIN_L_MK;
spin_PWM_mask |= MOT_SPIN_R_MK;
}
+
+
+/**
+ \brief Control the PWM of the spinning & flippers and all motors braking.
+ \fn motor_control
+ \ingroup movements
+
+ This function should be called from a timer interrupt that will fix the PWM
+ resolution.
+ The PWM period will be PWM_PERIOD times * the timer period.
+ The braking time is dependant on the timer period too.
+ */
+/** Number of timer periods that constitutes the PWM period. This is also the
+ * number of PWM values you can get. */
+#define PWM_PERIOD 5
+void motor_control(void)
+{
+ static uint8_t pwm_tim;
+ /* Flippers PWM
+ * Pulse is stopped here */
+ if (pwm_tim == flippers_PWM)
+ MOT_WINGS_FW_PT &= ~MOT_WINGS_FW_MK;
+
+ /* Spin PWM
+ * Pulse is stopped here */
+ if (pwm_tim == spin_PWM)
+ MOT_SPIN_PT &= ~MOT_SPIN_MK;
+
+ /* PWM motor management
+ * Pulse is set here when pwm_tim is at maximum and is
+ * reset when pwm_tim equals the PWM value set by the user
+ */
+ if (pwm_tim++ == PWM_PERIOD)
+ {
+ pwm_tim = 0;
+ PORTB |= portB_PWM_mask; /* spin and flippers */
+ }
+
+ /* Flippers timer to stop the flippers in any position */
+ if (flippers_timer)
+ {
+ flippers_timer--;
+ if (!flippers_timer)
+ {
+ stopWings();
+ }
+ }
+
+ /* Flippers braking (motor reversed) delay */
+ if (flippers_stop_delay)
+ {
+ flippers_stop_delay--;
+ if (!flippers_stop_delay)
+ {
+ stopWings();
+ flippers_PWM = 0;
+ }
+ }
+
+ /* eyes braking (motor reversed) delay */
+ if (eyes_stop_delay)
+ {
+ eyes_stop_delay--;
+ if (!eyes_stop_delay)
+ {
+ stop_eyes_motor();
+ }
+ }
+
+ /* mouth braking (motor reversed) delay */
+ if (mouth_stop_delay)
+ {
+ mouth_stop_delay--;
+ if (!mouth_stop_delay)
+ {
+ stopMouth();
+ }
+ }
+
+ /* spin braking (motor reversed) delay */
+ if (spin_stop_delay)
+ {
+ spin_stop_delay--;
+ if (!spin_stop_delay)
+ {
+ stopSpinMot();
+ }
+ }
+}
Modified: firmware/tuxcore/trunk/motors.h
===================================================================
--- firmware/tuxcore/trunk/motors.h 2007-09-12 09:21:16 UTC (rev 511)
+++ firmware/tuxcore/trunk/motors.h 2007-09-12 11:07:13 UTC (rev 512)
@@ -68,11 +68,10 @@
{ LEFT, RIGHT };
/* counters to stop eye/mouth and flippers at timer int */
-extern uint8_t flippers_stop_delay, flippers_move_counter, flippers_PWM;
-extern uint8_t flippers_timer, flippers_revious_timer;
-extern uint8_t eyes_stop_delay, eyes_move_counter;
-extern uint8_t mouth_stop_delay, mouth_move_counter, mouth_pos;
-extern uint8_t spin_stop_delay, spin_move_counter, spin_PWM;
+extern uint8_t flippers_move_counter, flippers_PWM;
+extern uint8_t eyes_move_counter;
+extern uint8_t mouth_move_counter, mouth_pos;
+extern uint8_t spin_move_counter, spin_PWM;
/* pwm mask registers */
extern uint8_t portB_PWM_mask;
@@ -85,82 +84,29 @@
*/
void initPosSwitches(void);
void closePosSwitches(void);
-uint8_t getPosSwitches(void);
/*
* Basic movements
*/
-
-/**
- \brief Spin left for the \c angle amount
- \param angle Angle to turn, in 90 unit
- \ingroup spin
- */
-void spinLeft(uint8_t angle, uint8_t pwm);
-
-/**
- \brief Spin right for the \c angle amount
- \param angle Angle to turn, in 90 unit
- \ingroup spin
- */
-void spinRight(uint8_t angle, uint8_t pwm);
-
-void waveWings(uint8_t cnt, uint8_t pwm);
-void lowerWings(void);
-void raiseWings(void);
-void resetWings(void);
-void stopEyes(void);
-void blinkEyes(uint8_t cnt);
-void closeEyes(void);
-void openEyes(void);
+extern void stop_eyes(void);
+extern void blink_eyes(uint8_t cnt);
+extern void close_eyes(void);
+extern void open_eyes(void);
void moveMouth(uint8_t cnt);
void openMouth(void);
void closeMouth(void);
-
-/**
- \brief Resets Tux's absolute angle reference
- \ingroup primitives
- */
-void resetSpinOri(void);
-
-/**
- \brief Resets Tux's absolute turn reference
- \ingroup primitives
-
- Compared to \c resetSpinOri(), this function only resets the turn count
- reference, not the angle. See gStatus.ori
- */
-void resetSpinTurns(void);
-
-/**
- \brief Stop the spinning motor
- \ingroup primitives
- */
+void resetWings(void);
+void waveWings(uint8_t cnt, uint8_t pwm);
+void lowerWings(void);
+void raiseWings(void);
void stopSpin(void);
+void spinLeft(uint8_t angle, uint8_t pwm);
+void spinRight(uint8_t angle, uint8_t pwm);
/*
* Macro and inline functions definition
*/
-/**
- \brief Stop the eyes motor
- \ingroup eyes
- */
-#define stopEyes() (MOT_EYES_PT &= ~(MOT_EYES_MK | MOT_IEYES_MK))
-
-/**
- \brief Start the eyes motor
- \ingroup primitives
- */
-#define runEyes() {(MOT_EYES_PT &= ~MOT_IEYES_MK); \
- (MOT_EYES_PT |= MOT_EYES_MK);}
-#define runIEyes() {(MOT_EYES_PT &= ~MOT_EYES_MK); \
- (MOT_EYES_PT |= MOT_IEYES_MK);}
-
-/**
- \brief Stop the mouth motor
- \ingroup mouth
- */
#define stopMouth() (MOT_MOUTH_PT &= ~(MOT_MOUTH_MK | MOT_IMOUTH_MK))
/**
@@ -219,89 +165,6 @@
#define runSpinRight() (MOT_SPIN_L_PT &= ~MOT_SPIN_L_MK); \
(MOT_SPIN_R_PT |= MOT_SPIN_R_MK)
-/**
- \brief Control the PWM of the spinning & flippers and motor braking.
- \ingroup primitives
- * XXX Change group name
- * This function should be called from a timer interrupt that will fix the PWM
- * resolution.
- * The PWM period will be PWM_PERIOD times * the timer period.
- * The braking time is dependant on the timer period too.
- */
-#define PWM_PERIOD 5
-uint8_t static pwm_tim;
+extern void motor_control(void);
-static inline void motor_control(void) __attribute__ ((always_inline));
-void motor_control(void)
-{
- /* Flippers PWM
- * Pulse is stopped here */
- if (pwm_tim == flippers_PWM)
- MOT_WINGS_FW_PT &= ~MOT_WINGS_FW_MK;
-
- /* Spin PWM
- * Pulse is stopped here */
- if (pwm_tim == spin_PWM)
- MOT_SPIN_PT &= ~MOT_SPIN_MK;
-
- /* PWM motor management
- * Pulse is set here when pwm_tim is at maximum and is
- * reset when pwm_tim equals the PWM value set by the user
- */
- if (pwm_tim++ == PWM_PERIOD)
- {
- pwm_tim = 0;
- PORTB |= portB_PWM_mask; /* spin and flippers */
- }
- /* Flippers timer to stop the flippers in any position */
- if (flippers_timer)
- {
- flippers_timer--;
- if (!flippers_timer)
- {
- stopWings();
- }
- }
-
- /* Flippers braking (motor reversed) delay */
- if (flippers_stop_delay)
- {
- flippers_stop_delay--;
- if (!flippers_stop_delay)
- {
- stopWings();
- flippers_PWM = 0;
- }
- }
-
- /* eyes braking (motor reversed) delay */
- if (eyes_stop_delay)
- {
- eyes_stop_delay--;
- if (!eyes_stop_delay)
- {
- stopEyes();
- }
- }
-
- /* mouth braking (motor reversed) delay */
- if (mouth_stop_delay)
- {
- mouth_stop_delay--;
- if (!mouth_stop_delay)
- {
- stopMouth();
- }
- }
-
- /* spin braking (motor reversed) delay */
- if (spin_move_counter)
- {
- spin_move_counter--;
- if (!spin_move_counter)
- {
- stopSpinMot();
- }
- }
-}
#endif /* _MOTORS_H_ */
Modified: firmware/tuxcore/trunk/parser.c
===================================================================
--- firmware/tuxcore/trunk/parser.c 2007-09-12 09:21:16 UTC (rev 511)
+++ firmware/tuxcore/trunk/parser.c 2007-09-12 11:07:13 UTC (rev 512)
@@ -70,19 +70,19 @@
/* Moves */
else if (command[0] == BLINK_EYES_CMD)
{
- blinkEyes(command[1]);
+ blink_eyes(command[1]);
}
else if (command[0] == STOP_EYES_CMD)
{
- stopEyes();
+ stop_eyes();
}
else if (command[0] == OPEN_EYES_CMD)
{
- openEyes();
+ open_eyes();
}
else if (command[0] == CLOSE_EYES_CMD)
{
- closeEyes();
+ close_eyes();
}
else if (command[0] == MOVE_MOUTH_CMD)
{
Modified: firmware/tuxcore/trunk/standalone.c
===================================================================
--- firmware/tuxcore/trunk/standalone.c 2007-09-12 09:21:16 UTC (rev 511)
+++ firmware/tuxcore/trunk/standalone.c 2007-09-12 11:07:13 UTC (rev 512)
@@ -209,7 +209,7 @@
if ((gStatus.sw & GSTATUS_POWERPLUGSW_MK))
{
stopSpin(); /* flush the spinning commands */
- spin_stop_delay = 0;
+ spin_move_counter = 0;
}
if (remote_mode)
@@ -279,7 +279,7 @@
mov_nbr = ir_command;
break;
case K_UP:
- blinkEyes(mov_nbr);
+ blink_eyes(mov_nbr);
break;
case K_OK:
moveMouth(mov_nbr);
|
