diff options
Diffstat (limited to 'robot')
| -rw-r--r-- | robot/mode_scal.c | 17 | ||||
| -rw-r--r-- | robot/mode_spin.c | 3 | ||||
| -rw-r--r-- | robot/modes.c | 1 | ||||
| -rw-r--r-- | robot/readme.md | 8 | ||||
| -rw-r--r-- | robot/sercomm.c | 6 |
5 files changed, 19 insertions, 16 deletions
diff --git a/robot/mode_scal.c b/robot/mode_scal.c index f3178d7..53cbf67 100644 --- a/robot/mode_scal.c +++ b/robot/mode_scal.c @@ -1,19 +1,20 @@ #include "mode_scal.h" +#include "modes.h" +#include "orangutan_shim.h" void w2_mode_scal() { - // TODO ??? - /* pololu_3pi_init(2000); + pololu_3pi_init(2000); for (int counter = 0; counter < 80; counter++) { if (counter < 20 || counter >= 60) { - g_w2_io.motor_left.speed = 40; - g_w2_io.motor_right.speed = -40; + set_motors(40, -40); } else { - g_w2_io.motor_left.speed = -40; - g_w2_io.motor_right.speed = 40; + set_motors(-40, 40); } calibrate_line_sensors(IR_EMITTERS_ON); - delay_ms(20); // TODO foei - } */ + delay_ms(20); + } + + w2_modes_call(W2_M_PREV); } diff --git a/robot/mode_spin.c b/robot/mode_spin.c index 9145eb3..9ee83b0 100644 --- a/robot/mode_spin.c +++ b/robot/mode_spin.c @@ -1,3 +1,4 @@ #include "mode_spin.h" +#include "orangutan_shim.h" -void w2_mode_spin() {} +void w2_mode_spin() { set_motors(255, -255); } diff --git a/robot/modes.c b/robot/modes.c index 7decf47..fd062a8 100644 --- a/robot/modes.c +++ b/robot/modes.c @@ -22,7 +22,6 @@ void w2_modes_init() { g_w2_modes[W2_M_DIRC] = &w2_mode_dirc; g_w2_modes[W2_M_GRID] = &w2_mode_grid; g_w2_modes[W2_M_HALT] = &w2_mode_halt; - g_w2_modes[W2_M_LCAL] = &w2_mode_lcal; g_w2_modes[W2_M_MAZE] = &w2_mode_maze; g_w2_modes[W2_M_SCAL] = &w2_mode_scal; g_w2_modes[W2_M_SPIN] = &w2_mode_spin; diff --git a/robot/readme.md b/robot/readme.md index f54af21..e8316e3 100644 --- a/robot/readme.md +++ b/robot/readme.md @@ -50,8 +50,7 @@ organizational and form more of a software 'skeleton', while the 'maze' and Maze ─┤ Warehouse ─┤ Emergency stop ─┤ - *logic modes* -> Line finding ─┤ - Charge station ─┤ + *logic modes* -> Charge station ─┤ Direct control ─┤ Wet floor ─┤ Sensor calibration ─┘ @@ -74,11 +73,10 @@ what they're supposed to do: |maze |`mode_maze `|done|Jorn & Abdullaahi| controls robot during maze portion of map; hands off control to warehouse module| |warehouse |`mode_grid `|may 31|Loek| controls robot during warehouse portion of map; hands off control to maze module| |emergency stop |`mode_halt `|done|Fiona| stops all execution until emergency mode is reset by software or user| -|line finding |`mode_lcal `|may 31|Fiona| find line by turning on own axis if lost| |charge station |`mode_chrg `|may 31|Fiona| go to the charging station transition in the grid, and continue until a black circle is found| |direct control |`mode_dirc `|done|Loek| respond to [DIRC](../protocol.md#DIRC) commands| -|wet floor |`mode_spin `|may 31|Fiona| spin uncontrollably (simulating wet floor??)| -|sensor calibration|`mode_scal `|may 31|Jorn & Abdullaahi| calibrate underside uv sensors| +|wet floor |`mode_spin `|done|Fiona| spin uncontrollably (simulating wet floor??)| +|sensor calibration|`mode_scal `|done|Jorn & Abdullaahi| calibrate underside uv sensors| ## some standards diff --git a/robot/sercomm.c b/robot/sercomm.c index c50dd15..f52eb7e 100644 --- a/robot/sercomm.c +++ b/robot/sercomm.c @@ -99,7 +99,11 @@ void w2_cmd_ping_rx(w2_s_bin *data) { w2_sercomm_append_msg(data); } void w2_cmd_mode_rx(w2_s_bin *data) { W2_CAST_BIN(w2_s_cmd_mode_rx, data, req); - w2_modes_swap(req->mode); + if (req->mode == W2_M_SCAL) { + w2_modes_call(req->mode); + } else { + w2_modes_swap(req->mode); + } } void w2_cmd_sped_rx(w2_s_bin *data) { return; } |