From 29d6aba8da2c4702c2b51e089e4414f9f7a5b71b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Tue, 7 Jun 2016 06:52:07 +0200
Subject: [PATCH] Added a new example to climb stairs. Solved a problem in the
example Makefiles: multiple delettion of object files in the clean command.
---
examples/get_up/Makefile | 1 -
examples/movements/Makefile | 1 -
examples/sensors/Makefile | 1 -
examples/stairs/Makefile | 57 +++++++++++++
examples/stairs/stairs.c | 142 ++++++++++++++++++++++++++++++++
examples/walk_straight/Makefile | 1 -
motion/include/action_id.h | 8 +-
7 files changed, 204 insertions(+), 7 deletions(-)
create mode 100644 examples/stairs/Makefile
create mode 100644 examples/stairs/stairs.c
diff --git a/examples/get_up/Makefile b/examples/get_up/Makefile
index b4651c3..0a5a21b 100644
--- a/examples/get_up/Makefile
+++ b/examples/get_up/Makefile
@@ -51,7 +51,6 @@ download: $(MAIN_OUT_HEX)
fw_downloader -d /dev/ttyUSB0 -f ./$(PROJECT).hex -p cm510
clean:
- -rm $(PROJECT).o
-rm $(PROJECT).map
-rm $(PROJECT).elf
-rm $(PROJECT).hex
diff --git a/examples/movements/Makefile b/examples/movements/Makefile
index 72e8219..6d668f0 100644
--- a/examples/movements/Makefile
+++ b/examples/movements/Makefile
@@ -51,7 +51,6 @@ download: $(MAIN_OUT_HEX)
fw_downloader -d /dev/ttyUSB0 -f ./$(PROJECT).hex -p cm510
clean:
- -rm $(PROJECT).o
-rm $(PROJECT).map
-rm $(PROJECT).elf
-rm $(PROJECT).hex
diff --git a/examples/sensors/Makefile b/examples/sensors/Makefile
index 48b4cd0..df76691 100644
--- a/examples/sensors/Makefile
+++ b/examples/sensors/Makefile
@@ -51,7 +51,6 @@ download: $(MAIN_OUT_HEX)
fw_downloader -d /dev/ttyUSB0 -f ./$(PROJECT).hex -p cm510
clean:
- -rm $(PROJECT).o
-rm $(PROJECT).map
-rm $(PROJECT).hex
-rm $(PROJECT).elf
diff --git a/examples/stairs/Makefile b/examples/stairs/Makefile
new file mode 100644
index 0000000..d05e5a1
--- /dev/null
+++ b/examples/stairs/Makefile
@@ -0,0 +1,57 @@
+PROJECT=stairs
+########################################################
+# afegir tots els fitxers que s'han de compilar aquÃ
+########################################################
+SOURCES=stairs.c
+
+OBJS=$(SOURCES:.c=.o)
+SRC_DIR=./
+DEV_DIR=../../dyn_devices/
+COMM_DIR=../../communications/
+CONT_DIR=../../controllers/
+MAN_DIR=../../motion/
+CC=avr-gcc
+OBJCOPY=avr-objcopy
+MMCU=atmega2561
+
+LIBS=$(MAN_DIR)lib/libmotion_manager.a $(CONT_DIR)lib/libcontrollers.a $(COMM_DIR)lib/libcomm.a $(DEV_DIR)lib/libdyn_devices.a
+
+INCLUDE_DIRS=-I$(DEV_DIR)include -I$(COMM_DIR)include -I$(CONT_DIR)include -I$(MAN_DIR)include
+
+CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
+
+LDFLAGS=-mmcu=$(MMCU) -Wl,-Map=$(PROJECT).map -DF_CPU=16000000UL
+
+HEX_FLASH_FLAGS = -R .eeprom -R .fuse -R .lock -R .signature
+
+.PHONY: all
+
+all: communications dyn_devices controllers motion_manager $(PROJECT).hex
+
+$(PROJECT).hex: $(PROJECT).elf
+ $(OBJCOPY) -O ihex $(HEX_FLASH_FLAGS) $< $@
+$(PROJECT).elf: $(OBJS)
+ $(CC) $(LDFLAGS) $(OBJS) $(LIBS) -o $(PROJECT).elf
+%.o:%.c
+ $(CC) -c $(CFLAGS) $(INCLUDE_DIRS) -o $@ $<
+
+communications:
+ $(MAKE) -C $(COMM_DIR)
+
+dyn_devices:
+ $(MAKE) -C $(DEV_DIR)
+
+controllers:
+ $(MAKE) -C $(CONT_DIR)
+
+motion_manager:
+ $(MAKE) -C $(MAN_DIR)
+
+download: $(MAIN_OUT_HEX)
+ fw_downloader -d /dev/ttyUSB0 -f ./$(PROJECT).hex -p cm510
+
+clean:
+ -rm $(PROJECT).map
+ -rm $(PROJECT).hex
+ -rm $(PROJECT).elf
+ -rm $(OBJS)
diff --git a/examples/stairs/stairs.c b/examples/stairs/stairs.c
new file mode 100644
index 0000000..f380049
--- /dev/null
+++ b/examples/stairs/stairs.c
@@ -0,0 +1,142 @@
+#include <util/delay.h>
+#include <stdio.h>
+#include "cm510.h"
+#include "balance.h"
+#include "exp_board.h"
+
+typedef enum {wait_start,wait_ready,up_stairs} main_states;
+typedef enum {idle,delay1,wait_step1,delay2,wait_step2,delay3,wait_step3,delay4,wait_step4,wait_ready_up} stairs_up_states;
+
+uint8_t stairs_up_process(void)
+{
+ static stairs_up_states state=idle;
+ uint8_t done=0x00;
+
+ switch(state)
+ {
+ case idle: user_time_set_one_time(1500);
+ state = delay1;
+ break;
+ case delay1: if(user_time_is_done())
+ {
+ action_set_page(224);
+ action_start_page();
+ state = wait_step1;
+ }
+ else
+ state = delay1;
+ break;
+ case wait_step1: if(is_action_running())
+ state = wait_step1;
+ else
+ {
+ user_time_set_one_time(1500);
+ state = delay2;
+ }
+ printf("step1\n");
+ break;
+ case delay2: if(user_time_is_done())
+ {
+ action_set_page(225);
+ action_start_page();
+ state = wait_step2;
+ }
+ else
+ state = delay2;
+ break;
+ case wait_step2: if(is_action_running())
+ state = wait_step2;
+ else
+ {
+ user_time_set_one_time(1500);
+ state = delay3;
+ }
+ printf("step2\n");
+ break;
+ case delay3: if(user_time_is_done())
+ {
+ action_set_page(226);
+ action_start_page();
+ state = wait_step3;
+ }
+ else
+ state = delay3;
+ break;
+ case wait_step3: if(is_action_running())
+ state = wait_step3;
+ else
+ {
+ user_time_set_one_time(1500);
+ state = delay4;
+ }
+ printf("step3\n");
+ break;
+ case delay4: if(user_time_is_done())
+ {
+ action_set_page(226);
+ action_start_page();
+ state = wait_step4;
+ }
+ else
+ state = delay4;
+ break;
+ case wait_step4: if(is_action_running())
+ state = wait_step4;
+ else
+ {
+ action_set_page(31);
+ action_start_page();
+ state = wait_ready;
+ }
+ printf("step4\n");
+ break;
+ case wait_ready_up: if(is_action_running())
+ state = wait_ready_up;
+ else
+ {
+ state=idle;
+ done=0x01;
+ }
+ break;
+ }
+
+ return done;
+}
+
+
+void user_init(void)
+{
+ serial_console_init(57600);
+ balance_init();
+ balance_calibrate_gyro();
+ balance_enable_gyro();
+ user_time_set_period(100);
+}
+
+void user_loop(void)
+{
+ static main_states state=wait_start;
+
+ switch(state)
+ {
+ case wait_start: if(is_button_rising_edge(BTN_START))
+ {
+ action_set_page(31);
+ action_start_page();
+ state=wait_ready;
+ }
+ else
+ state=wait_start;
+ break;
+ case wait_ready: if(is_action_running())
+ state=wait_ready;
+ else
+ state=up_stairs;
+ break;
+ case up_stairs: if(stairs_up_process())
+ state=wait_start;
+ else
+ state=up_stairs;
+ break;
+ }
+}
diff --git a/examples/walk_straight/Makefile b/examples/walk_straight/Makefile
index 00d79f3..428ca81 100644
--- a/examples/walk_straight/Makefile
+++ b/examples/walk_straight/Makefile
@@ -51,7 +51,6 @@ download: $(MAIN_OUT_HEX)
fw_downloader -d /dev/ttyUSB0 -f ./$(PROJECT).hex -p cm510
clean:
- -rm $(PROJECT).o
-rm $(PROJECT).map
-rm $(PROJECT).hex
-rm $(PROJECT).elf
diff --git a/motion/include/action_id.h b/motion/include/action_id.h
index 88233b2..32ca4ee 100644
--- a/motion/include/action_id.h
+++ b/motion/include/action_id.h
@@ -126,8 +126,10 @@
#define BR_M_R 218
#define BR_E_L 220
#define BR_E_R 222
-
-
-
+#define stairs_up_1 224
+#define stairs_up_2 225
+#define stairs_up_3 226
+#define stairs_up_4 227
+#define stairs_down 228
#endif
--
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