[tuxdroid-svn] r758 - in firmware: tuxcore/trunk tuxdefs

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

Author: jaguarondi
Date: 2007-12-06 18:17:52 +0100 (Thu, 06 Dec 2007)
New Revision: 758

Modified:
   firmware/tuxcore/trunk/motors.c
   firmware/tuxdefs/defines.h
Log:
* Minor changes.


Modified: firmware/tuxcore/trunk/motors.c
===================================================================
--- firmware/tuxcore/trunk/motors.c	2007-12-06 17:07:22 UTC (rev 757)
+++ firmware/tuxcore/trunk/motors.c	2007-12-06 17:17:52 UTC (rev 758)
@@ -29,6 +29,7 @@
 
 #include "global.h"
 #include "motors.h"
+#include "common/defines.h"
 
 /**
  * \name Braking delays
@@ -54,10 +55,6 @@
 /** 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
@@ -75,7 +72,7 @@
  * 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 */
+/** State variable indicating the final requested state for the mouth */
 static uint8_t mouth_final_state;
 /** Number of movements remaining before stopping the flippers. */
 uint8_t flippers_move_counter;
@@ -393,7 +390,7 @@
     if (!(PSW_MOUTH_PIN & PSW_MOUTH_C_MK))
         move_mouth(1);
     if (MOT_MOUTH_PT |= MOT_MOUTH_MK)
-        mouth_final_state = MOUTH_OPEN;
+        mouth_final_state = MOUTH_OPENED;
         move_mouth(2);
 }
 
@@ -408,7 +405,7 @@
     if (!(PSW_MOUTH_PIN & PSW_MOUTH_O_MK))
         move_mouth(1);
     if (MOT_MOUTH_PT |= MOT_MOUTH_MK)
-        mouth_final_state = MOUTH_CLOSE;
+        mouth_final_state = MOUTH_CLOSED;
         move_mouth(2);
 }
 
@@ -436,16 +433,16 @@
         if (mouth_move_counter)
         {
             mouth_move_counter--;
-            if (mouth_final_state != MOUTH_UDEF)
+            if (mouth_final_state != MOUTH_UNKNOWN)
             {
-                if ((mouth_final_state == MOUTH_OPEN) && !(PSW_MOUTH_PIN & PSW_MOUTH_O_MK))
+                if ((mouth_final_state == MOUTH_OPENED) && !(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))
+                else if ((mouth_final_state == MOUTH_CLOSED) && !(PSW_MOUTH_PIN & PSW_MOUTH_C_MK))
                     mouth_move_counter = 0;
             }
             if (!mouth_move_counter)
             {
-                mouth_final_state = MOUTH_UDEF;
+                mouth_final_state = MOUTH_UNKNOWN;
                 stop_mouth_motor();
                 invert_mouth_motor();
                 mouth_stop_delay = MOUTH_BRAKING_DLY;

Modified: firmware/tuxdefs/defines.h
===================================================================
--- firmware/tuxdefs/defines.h	2007-12-06 17:07:22 UTC (rev 757)
+++ firmware/tuxdefs/defines.h	2007-12-06 17:17:52 UTC (rev 758)
@@ -163,7 +163,24 @@
 
 /*! @} */
 
+/**
+ * \name Movements
+ */
+/*! @{ */
+
+/**
+ * Type indicating the mouth position.
+ */
+typedef enum
+{
+    MOUTH_UNKNOWN,
+    MOUTH_OPENED,
+    MOUTH_CLOSED,
+} MOUTH_POSITION_t;
+
 /*! @} */
 
+/*! @} */
+
 #endif /* _DEFINES_H_ */