[tuxdroid-svn] r707 - firmware/tuxcore/trunk

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

Author: Paul_R
Date: 2007-11-16 15:28:53 +0100 (Fri, 16 Nov 2007)
New Revision: 707

Modified:
   firmware/tuxcore/trunk/motors.c
Log:
* Adapt the motors function to the new API commands.
  - When the mouth move, the tux.cmd.mouth_open/close commands can be used.
  - When the wings waves, the tux.cmd.wings_up/down stop the wings in the desired position.


Modified: firmware/tuxcore/trunk/motors.c
===================================================================
--- firmware/tuxcore/trunk/motors.c	2007-11-16 12:06:07 UTC (rev 706)
+++ firmware/tuxcore/trunk/motors.c	2007-11-16 14:28:53 UTC (rev 707)
@@ -54,6 +54,10 @@
 /** Minimum difference required between the period the flippers are moving from
  * up to down and from down to up. */
 #define FLIPPERS_RESETTIMER_HYST 0x10
+/** Mouth final state */
+#define MOUTH_UDEF  0
+#define MOUTH_OPEN  1
+#define MOUTH_CLOSE 2
 
 /** Number of periods remaining before stopping the eyes.
  * Normally used when braking, to stop the motor after a short period of
@@ -71,6 +75,8 @@
  * Normally used when braking, to stop the motor after a short period of
  * inversion. */
 static uint8_t flippers_stop_delay;
+/** A flag which indicate the final wanted state for the mouth */
+static uint8_t mouth_final_state;
 /** Number of movements remaining before stopping the flippers. */
 uint8_t flippers_move_counter;
 /** PWM applied on the flippers motor. */
@@ -386,6 +392,9 @@
 {
     if (!(PSW_MOUTH_PIN & PSW_MOUTH_C_MK))
         move_mouth(1);
+    if (MOT_MOUTH_PT |= MOT_MOUTH_MK)
+        mouth_final_state = MOUTH_OPEN;
+        move_mouth(2);
 }
 
 /**
@@ -398,6 +407,9 @@
 {
     if (!(PSW_MOUTH_PIN & PSW_MOUTH_O_MK))
         move_mouth(1);
+    if (MOT_MOUTH_PT |= MOT_MOUTH_MK)
+        mouth_final_state = MOUTH_CLOSE;
+        move_mouth(2);
 }
 
 /**
@@ -424,8 +436,16 @@
         if (mouth_move_counter)
         {
             mouth_move_counter--;
+            if (mouth_final_state != MOUTH_UDEF)
+            {
+                if ((mouth_final_state == MOUTH_OPEN) && !(PSW_MOUTH_PIN & PSW_MOUTH_O_MK))
+                    mouth_move_counter = 0;
+                else if ((mouth_final_state == MOUTH_CLOSE) && !(PSW_MOUTH_PIN & PSW_MOUTH_C_MK))
+                    mouth_move_counter = 0;
+            }
             if (!mouth_move_counter)
             {
+                mouth_final_state = MOUTH_UDEF;
                 stop_mouth_motor();
                 invert_mouth_motor();
                 mouth_stop_delay = MOUTH_BRAKING_DLY;
@@ -542,6 +562,8 @@
 {
     if (gStatus.pos == 0)
         wave_flippers(1,5);
+    else
+        flippers_move_counter = 2; 
 }
 
 /**
@@ -558,6 +580,8 @@
 {
     if (gStatus.pos == 1)
         wave_flippers(1,5);
+    else
+        flippers_move_counter = 2; 
 }
 
 /**