[tuxdroid-svn] r532 - firmware/tuxcore/trunk

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

Author: jaguarondi
Date: 2007-09-19 12:57:20 +0200 (Wed, 19 Sep 2007)
New Revision: 532

Modified:
   firmware/tuxcore/trunk/motors.c
   firmware/tuxcore/trunk/motors.h
Log:
* Set parameters of functions as const in the motor module.


Modified: firmware/tuxcore/trunk/motors.c
===================================================================
--- firmware/tuxcore/trunk/motors.c	2007-09-19 10:45:56 UTC (rev 531)
+++ firmware/tuxcore/trunk/motors.c	2007-09-19 10:57:20 UTC (rev 532)
@@ -208,7 +208,7 @@
    is raising or lowering the eyelids. 'cnt' can be up to 256. If 'cnt' is
    null, waving will run indefinitely.
  */
-void blink_eyes(uint8_t cnt)
+void blink_eyes(uint8_t const cnt)
 {
     eyes_move_counter = cnt;
     eyes_stop_delay = 0;
@@ -365,7 +365,7 @@
    is raising or lowering the eyelids. 'cnt' can be up to 256. If 'cnt' is
    null, waving will run indefinitely.
  */
-void move_mouth(uint8_t cnt)
+void move_mouth(uint8_t const cnt)
 {
     mouth_move_counter = cnt;
     mouth_stop_delay = 0;
@@ -485,7 +485,7 @@
    motor. It's possible that the smallest PWM values won't deliver enough power
    to even start the motor.
  */
-void wave_flippers(uint8_t cnt, uint8_t pwm)
+void wave_flippers(uint8_t const cnt, uint8_t const pwm)
 {
     flippers_move_counter = cnt;
     flippers_PWM = pwm;
@@ -645,16 +645,16 @@
    \param pwm PWM value assigned to the spinning.
    \ingroup spin
  */
-void spin_left(uint8_t angle, uint8_t pwm)
+void spin_left(uint8_t const angle, uint8_t const pwm)
 {
+    spin_direction = LEFT;
+    spin_move_counter = angle;
     /* 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 == RIGHT) && (PSW_SPIN_PIN & PSW_SPIN_MK))
-        angle++;
-    spin_direction = LEFT;
-    spin_move_counter = angle;
+        spin_move_counter++;
     spin_PWM = pwm;
     spin_PWM_mask &= ~MOT_SPIN_R_MK;
     spin_PWM_mask |= MOT_SPIN_L_MK;
@@ -666,16 +666,16 @@
    \param pwm PWM value assigned to the spinning.
    \ingroup spin
  */
-void spin_right(uint8_t angle, uint8_t pwm)
+void spin_right(uint8_t const angle, uint8_t const pwm)
 {
+    spin_direction = RIGHT;
+    spin_move_counter = angle;
     /* 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++;
-    spin_direction = RIGHT;
-    spin_move_counter = angle;
+        spin_move_counter++;
     spin_PWM = pwm;
     spin_PWM_mask &= ~MOT_SPIN_L_MK;
     spin_PWM_mask |= MOT_SPIN_R_MK;

Modified: firmware/tuxcore/trunk/motors.h
===================================================================
--- firmware/tuxcore/trunk/motors.h	2007-09-19 10:45:56 UTC (rev 531)
+++ firmware/tuxcore/trunk/motors.h	2007-09-19 10:57:20 UTC (rev 532)
@@ -79,21 +79,21 @@
  * Movements
  */
 extern void stop_eyes(void);
-extern void blink_eyes(uint8_t cnt);
+extern void blink_eyes(uint8_t const cnt);
 extern void close_eyes(void);
 extern void open_eyes(void);
 extern void stop_mouth(void);
-extern void move_mouth(uint8_t cnt);
+extern void move_mouth(uint8_t const cnt);
 extern void open_mouth(void);
 extern void close_mouth(void);
 extern void stop_flippers(void);
 extern void reset_flippers(void);
-extern void wave_flippers(uint8_t cnt, uint8_t pwm);
+extern void wave_flippers(uint8_t const cnt, uint8_t const pwm);
 extern void lower_flippers(void);
 extern void raise_flippers(void);
 extern void stop_spinning(void);
-extern void spin_left(uint8_t angle, uint8_t pwm);
-extern void spin_right(uint8_t angle, uint8_t pwm);
+extern void spin_left(uint8_t const angle, uint8_t const pwm);
+extern void spin_right(uint8_t const angle, uint8_t const pwm);
 
 /*
  * Control