From 2c6062c2b045bf5e2a9f145148e373dd15e704bc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Sun, 12 Jun 2016 22:26:14 +0200
Subject: [PATCH] Deleted some unnecessary files from the dexter example
folder. Updated the stairs example to walk to the stairs and climb a single
step.
---
examples/dexter/movements.c~ | 81 --
examples/dexter/movements.elf | Bin 162248 -> 0 bytes
examples/dexter/movements.hex | 1663 ----------------------------
examples/dexter/movements.map | 1860 --------------------------------
examples/dexter/movements.o | Bin 5924 -> 0 bytes
examples/dexter/mtn_library.c~ | 453 --------
examples/dexter/mtn_library.o | Bin 15924 -> 0 bytes
examples/stairs/Makefile | 4 +-
examples/stairs/stairs.c | 250 +++--
motion/include/action_id.h | 6 +-
10 files changed, 170 insertions(+), 4147 deletions(-)
delete mode 100644 examples/dexter/movements.c~
delete mode 100755 examples/dexter/movements.elf
delete mode 100644 examples/dexter/movements.hex
delete mode 100644 examples/dexter/movements.map
delete mode 100644 examples/dexter/movements.o
delete mode 100644 examples/dexter/mtn_library.c~
delete mode 100644 examples/dexter/mtn_library.o
diff --git a/examples/dexter/movements.c~ b/examples/dexter/movements.c~
deleted file mode 100644
index 1f046f8..0000000
--- a/examples/dexter/movements.c~
+++ /dev/null
@@ -1,81 +0,0 @@
-#include <util/delay.h>
-#include <stdio.h>
-#include "cm510.h"
-#include "balance.h"
-#include "exp_board.h"
-#include "mtn_library.h"
-#include <stdlib.h>
-
-typedef enum {wait_start,wait_walk_ready,wait_cmd,walk,walk2} main_states;
-
-void user_init(void)
-{
- serial_console_init(57600);
- balance_init();
- balance_calibrate_gyro();
- balance_enable_gyro();
- mtn_lib_init();
-}
-
-typedef uint8_t (*fnct_ptr)(void);
-
-fnct_ptr fnct1=fast_walk_forward;
-//fnct_ptr fnct1=walk_forward;
-//fnct_ptr fnct1=walk_right;
-//fnct_ptr fnct1=walk_backward_turn_left;
-
-fnct_ptr fnct2=turn_left;
-//fnct_ptr fnct2=walk_left;
-//fnct_ptr fnct2=walk_backward_turn_right;
-
-void user_loop(void)
-{
- static main_states state=wait_start;
- static int current_foot = 0;
-
- switch(state)
- {
- case wait_start: if(is_button_rising_edge(BTN_START))
- {
- action_set_page(30);
- action_start_page();
- state=wait_walk_ready;
- }
- else
- state=wait_start;
- break;
- case wait_walk_ready: if(is_action_running())
- state=wait_walk_ready;
- else
- state=wait_cmd;
- break;
- case wait_cmd: if(is_button_rising_edge(BTN_UP))
- {
- fnct1();
- state=walk;
- }
- else if(is_button_rising_edge(BTN_LEFT))
- {
- fnct2();
- state=walk2;
- }
- else
- state=wait_cmd;
- break;
- case walk: if(is_button_rising_edge(BTN_DOWN))
- mtn_lib_stop_mtn();
- if(fnct1()==0x01)
- state=wait_cmd;
- else
- state=walk;
- break;
- case walk2: if(is_button_rising_edge(BTN_RIGHT))
- mtn_lib_stop_mtn();
- if(fnct2()==0x01)
- state=wait_cmd;
- else
- state=walk2;
- break;
- }
-}
-
diff --git a/examples/dexter/movements.elf b/examples/dexter/movements.elf
deleted file mode 100755
index 77459a37e93112674eddb1e55fd6aaf61c7001fc..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/examples/dexter/movements.hex b/examples/dexter/movements.hex
deleted file mode 100644
index ac72dc7..0000000
--- a/examples/dexter/movements.hex
+++ /dev/null
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diff --git a/examples/dexter/movements.map b/examples/dexter/movements.map
deleted file mode 100644
index 578efef..0000000
--- a/examples/dexter/movements.map
+++ /dev/null
@@ -1,1860 +0,0 @@
-Archive member included because of file (symbol)
-
-../../motion/lib/libmotion_manager.a(action.o)
- movements.o (action_set_page)
-../../motion/lib/libmotion_manager.a(motion_pages.o)
- ../../motion/lib/libmotion_manager.a(action.o) (load_page_info)
-../../motion/lib/libmotion_manager.a(balance.o)
- movements.o (balance_init)
-../../motion/lib/libmotion_manager.a(motion_manager.o)
- ../../motion/lib/libmotion_manager.a(action.o) (manager_num_servos)
-../../controllers/lib/libcontrollers.a(cm510.o)
- /usr/lib/gcc/avr/4.8.2/../../../avr/lib/avr6/crtm2561.o (main)
-../../controllers/lib/libcontrollers.a(gpio.o)
- ../../controllers/lib/libcontrollers.a(cm510.o) (pushbuttons_loop)
-../../controllers/lib/libcontrollers.a(adc.o)
- ../../motion/lib/libmotion_manager.a(balance.o) (adc_loop)
-../../controllers/lib/libcontrollers.a(buzzer.o)
- ../../controllers/lib/libcontrollers.a(cm510.o) (buzzer_loop)
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- ../../motion/lib/libmotion_manager.a(balance.o) (user_time_loop)
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- ../../motion/lib/libmotion_manager.a(motion_manager.o) (dyn_master_init)
-../../communications/lib/libcomm.a(serial_console.o)
- movements.o (serial_console_init)
-../../communications/lib/libcomm.a(dynamixel.o)
- ../../communications/lib/libcomm.a(dynamixel_master.o) (dyn_check_checksum)
-../../dyn_devices/lib/libdyn_devices.a(dyn_servos.o)
- ../../motion/lib/libmotion_manager.a(motion_manager.o) (enable_servo)
-../../dyn_devices/lib/libdyn_devices.a(exp_board.o)
- ../../motion/lib/libmotion_manager.a(motion_manager.o) (exp_board_loop)
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- ../../controllers/lib/libcontrollers.a(adc.o) (__udivmodsi4)
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- /usr/lib/gcc/avr/4.8.2/avr6/libgcc.a(_muldi3.o) (__muldi3_6)
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-/usr/lib/gcc/avr/4.8.2/../../../avr/lib/avr6/libm.a(fp_nan.o)
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-/usr/lib/gcc/avr/4.8.2/../../../avr/lib/avr6/libm.a(fp_split3.o)
- /usr/lib/gcc/avr/4.8.2/../../../avr/lib/avr6/libm.a(addsf3x.o) (__fp_split3)
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- ../../motion/lib/libmotion_manager.a(balance.o) (sqrt)
-/usr/lib/gcc/avr/4.8.2/../../../avr/lib/avr6/libm.a(fp_mpack.o)
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-/usr/lib/gcc/avr/4.8.2/../../../avr/lib/avr6/libc.a(fdevopen.o)
- ../../communications/lib/libcomm.a(serial_console.o) (fdevopen)
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- /usr/lib/gcc/avr/4.8.2/../../../avr/lib/avr6/libc.a(fdevopen.o) (__iob)
-/usr/lib/gcc/avr/4.8.2/../../../avr/lib/avr6/libc.a(calloc.o)
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- /usr/lib/gcc/avr/4.8.2/../../../avr/lib/avr6/libc.a(calloc.o) (memset)
-
-Allocating common symbols
-Common symbol size file
-
-adc_voltage_alarm 0x1 ../../controllers/lib/libcontrollers.a(adc.o)
-balance_gyro_calibrated
- 0x1 ../../motion/lib/libmotion_manager.a(balance.o)
-ipGoalSpeed1024 0x3e ../../motion/lib/libmotion_manager.a(action.o)
-exp_board_dac_present
- 0x1 ../../dyn_devices/lib/libdyn_devices.a(exp_board.o)
-dyn_master_rx_num_packets
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- 0x000000000000486a enable_servo
- 0x0000000000004882 disable_servo
- 0x000000000000489a is_servo_enabled
- 0x00000000000048ca turn_servo_led_on
- 0x00000000000048e2 turn_servo_led_off
- 0x00000000000048fa is_servo_led_on
- 0x000000000000492a get_compliance_margin
- 0x000000000000496c set_compliance_margin
- 0x00000000000049a8 get_compliance_slope
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- 0x0000000000004a26 get_pid_params
- 0x0000000000004a2a set_pid_params
- 0x0000000000004a2e get_target_position
- 0x0000000000004a68 set_target_position
- 0x0000000000004a80 get_target_speed
- 0x0000000000004aba set_target_speed
- 0x0000000000004ad2 get_torque_limit
- 0x0000000000004b0c set_torque_limit
- 0x0000000000004b24 get_current_position
- 0x0000000000004b5e get_current_speed
- 0x0000000000004b98 get_current_load
- 0x0000000000004bd2 get_current_voltage
- 0x0000000000004c02 get_current_temperature
- 0x0000000000004c32 is_moving
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- 0x0000000000004dc2 exp_board_is_present
- 0x0000000000004dc8 exp_adc_start
- 0x0000000000004de4 exp_adc_stop
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- 0x0000000000004e3a exp_adc_set_average_samples
- 0x0000000000004e56 exp_adc_get_average_samples
- 0x0000000000004e8a exp_adc_set_sample_period
- 0x0000000000004ea6 exp_adc_get_sample_period
- 0x0000000000004eda exp_adc_get_channel
- 0x0000000000004ef6 exp_adc_get_avg_channel
- 0x0000000000004f12 exp_gpio_config
- 0x0000000000004f3c exp_gpio_get_value
- 0x0000000000004f48 exp_gpio_set_value
- 0x0000000000004f72 exp_gpio_set_led
- 0x0000000000004f8e exp_gpio_clear_led
- 0x0000000000004faa exp_gpio_get_switches
- 0x0000000000004fde exp_pwm_start
- 0x0000000000005006 exp_pwm_stop
- 0x000000000000502e exp_pwm_is_running
- 0x000000000000506a exp_pwm_enable_ch
- 0x00000000000050a2 exp_pwm_disable_ch
- 0x00000000000050da exp_pwm_is_channel_enabled
- 0x0000000000005136 exp_pwm_set_frequency
- 0x000000000000515e exp_pwm_get_frequency
- 0x000000000000519c exp_pwm_set_duty_cycle
- 0x00000000000051ce exp_pwm_get_duty_cycle
- 0x000000000000520c exp_dac_start
- 0x0000000000005234 exp_dac_stop
- 0x000000000000525c exp_dac_is_running
- 0x0000000000005296 exp_dac_enable_ch
- 0x00000000000052cc exp_dac_disable_ch
- 0x0000000000005302 exp_dac_is_channel_enabled
- 0x000000000000535e exp_dac_set_voltage
- 0x00000000000053b6 exp_dac_get_voltage
- 0x0000000000005418 exp_compass_start
- 0x0000000000005434 exp_compass_stop
- 0x0000000000005450 exp_compass_is_running
- 0x000000000000548a exp_compass_start_calibration
- 0x00000000000054a6 exp_compass_stop_calibration
- 0x00000000000054c2 exp_compass_is_calibrating
- 0x00000000000054fc exp_compass_get_heading
- 0x0000000000005510 exp_compass_get_avg_heading
- 0x0000000000005524 exp_compass_set_avg_samples
- 0x0000000000005540 exp_compass_get_avg_samples
- 0x0000000000005574 exp_uart_ttl_start
- 0x000000000000559c exp_uart_ttl_stop
- 0x00000000000055c4 exp_uart_ttl_is_running
- 0x0000000000005600 exp_uart_ttl_set_baudrate
- 0x0000000000005628 exp_uart_ttl_get_baudrate
- 0x0000000000005666 exp_uart_ttl_send_byte
- 0x000000000000568e exp_uart_ttl_is_sending
- 0x00000000000056ca exp_uart_ttl_send_vector
- 0x000000000000577c exp_uart_ttl_is_data_available
- 0x00000000000057b8 exp_uart_ttl_receive_data
- 0x00000000000057ee exp_uart_usb_start
- 0x0000000000005816 exp_uart_usb_stop
- 0x000000000000583e exp_uart_usb_is_running
- 0x000000000000587a exp_uart_usb_set_baudrate
- 0x00000000000058a2 exp_uart_usb_get_baudrate
- 0x00000000000058e0 exp_uart_usb_send_byte
- 0x0000000000005908 exp_uart_usb_is_sending
- 0x0000000000005944 exp_uart_usb_send_vector
- 0x00000000000059f6 exp_uart_usb_is_data_available
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- 0x0000000000005aa2 get_firmware_version
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diff --git a/examples/dexter/mtn_library.c~ b/examples/dexter/mtn_library.c~
deleted file mode 100644
index a73e89b..0000000
--- a/examples/dexter/mtn_library.c~
+++ /dev/null
@@ -1,453 +0,0 @@
-#include <avr/io.h>
-#include "mtn_library.h"
-#include "action_id.h"
-#include "action.h"
-#include <stdio.h>
-
-// private variables
-typedef enum {mtn_fwd=0,mtn_bwd=1,mtn_turn_left=2,mtn_turn_right=3,mtn_left=4,mtn_right=5,mtn_fwd_turn_left=6,mtn_fwd_turn_right=7,
- mtn_bwd_turn_left=8,mtn_bwd_turn_right=9,mtn_fwd_left=10,mtn_fwd_right=11,mtn_bwd_left=12,mtn_bwd_right=13,
- mtn_fast_fwd=14,mtn_fast_bwd=15} mtn_t;
-typedef enum {idle,wait_start,wait_middle,wait_end} full_states;
-
-typedef struct{
- uint8_t start_l;
- uint8_t start_r;
- uint8_t middle_l;
- uint8_t middle_r;
- uint8_t end_l;
- uint8_t end_r;
-}TPages;
-
-uint8_t mtn_lib_stop;
-foot_t mtn_lib_start_foot;
-foot_t mtn_lib_current_foot;
-TPages mtn_pages[]={{F_S_L,F_S_R,F_M_L,F_M_R,F_E_L,F_E_R},
- {B_S_L,B_S_R,B_M_L,B_M_R,B_E_L,B_E_R},
- {LT_S_L,LT_S_R,LT_M_L,LT_M_R,LT_E_L,LT_E_R},
- {RT_S_L,RT_S_R,RT_M_L,RT_M_R,RT_E_L,RT_E_R},
- {L_S_L,L_S_R,L_M_L,L_M_R,L_E_L,L_E_R},
- {R_S_L,R_S_R,R_M_L,R_M_R,R_E_L,R_E_R},
- {FLT_S_L,FLT_S_R,FLT_M_L,FLT_M_R,FLT_E_L,FLT_E_R},
- {FRT_S_L,FRT_S_R,FRT_M_L,FRT_M_R,FRT_E_L,FRT_E_R},
- {BLT_S_L,BLT_S_R,BLT_M_L,BLT_M_R,BLT_E_L,BLT_E_R},
- {BRT_S_L,BRT_S_R,BRT_M_L,BRT_M_R,BRT_E_L,BRT_E_R},
- {FL_S_L,FL_S_R,FL_M_L,FL_M_R,FL_E_L,FL_E_R},
- {FR_S_L,FR_S_R,FR_M_L,FR_M_R,FR_E_L,FR_E_R},
- {BL_S_L,BL_S_R,BL_M_L,BL_M_R,BL_E_L,BL_E_R},
- {BR_S_L,BR_S_R,BR_M_L,BR_M_R,BR_E_L,BR_E_R},
- {fst_F_L_S,fst_F_R_S,fst_F_R_L_M,fst_F_L_R_M,fst_F_R_E,fst_F_L_E},
- {fst_B_L_S,fst_B_R_S,fst_B_L_M,fst_B_R_M,fst_B_L_E,fst_B_R_E}};
-
-/* private functions */
-uint8_t mtn_lib_full(TPages *pages)
-{
- static full_states state=idle;
- uint8_t done=0x00;
-
- switch(state)
- {
- case idle: if(mtn_lib_start_foot==left_foot)
- action_set_page(pages->start_l);
- else
- action_set_page(pages->start_r);
- action_start_page();
- mtn_lib_current_foot=mtn_lib_start_foot;
- state=wait_start;
- break;
- case wait_start: if(is_action_running())
- state=wait_start;
- else
- {
- if(mtn_lib_stop==0x01)
- {
- if(mtn_lib_current_foot==left_foot)
- {
- action_set_page(pages->end_r);
- mtn_lib_current_foot=right_foot;
- }
- else
- {
- action_set_page(pages->end_l);
- mtn_lib_current_foot=left_foot;
- }
- action_start_page();
- state=wait_end;
- }
- else
- {
- if(mtn_lib_current_foot==left_foot)
- {
- action_set_page(pages->middle_r);
- mtn_lib_current_foot=right_foot;
- }
- else
- {
- action_set_page(pages->middle_l);
- mtn_lib_current_foot=left_foot;
- }
- action_start_page();
- state=wait_middle;
- }
- }
- break;
- case wait_middle: if(is_action_running())
- state=wait_middle;
- else
- {
- if(mtn_lib_stop==0x01)
- {
- if(mtn_lib_current_foot==left_foot)
- {
- action_set_page(pages->end_r);
- mtn_lib_current_foot=right_foot;
- }
- else
- {
- action_set_page(pages->end_l);
- mtn_lib_current_foot=left_foot;
- }
- action_start_page();
- state=wait_end;
- }
- else
- {
- if(mtn_lib_current_foot==left_foot)
- {
- action_set_page(pages->middle_r);
- mtn_lib_current_foot=right_foot;
- }
- else
- {
- action_set_page(pages->middle_l);
- mtn_lib_current_foot=left_foot;
- }
- action_start_page();
- state=wait_middle;
- }
- }
- break;
- case wait_end: if(is_action_running())
- state=wait_end;
- else
- {
- mtn_lib_stop=0x00;
- state=idle;
- done=0x01;
- }
- break;
- }
-
- return done;
-}
-
-uint8_t mtn_lib_left(TPages *pages)
-{
- static full_states state=idle;
- uint8_t done=0x00;
-
- switch(state)
- {
- case idle: if(mtn_lib_start_foot==left_foot)
- action_set_page(pages->start_l);
- else
- action_set_page(pages->start_r);
- action_start_page();
- mtn_lib_current_foot=mtn_lib_start_foot;
- state=wait_start;
- break;
- case wait_start: if(is_action_running())
- state=wait_start;
- else
- {
- if(mtn_lib_current_foot==left_foot)
- {
- if(mtn_lib_stop==0x01)
- {
- action_set_page(pages->end_r);
- state=wait_end;
- }
- else
- {
- action_set_page(pages->middle_r);
- state=wait_middle;
- }
- mtn_lib_current_foot=right_foot;
- action_start_page();
- }
- else
- {
- action_set_page(pages->middle_l);
- mtn_lib_current_foot=left_foot;
- action_start_page();
- state=wait_middle;
- }
- }
- break;
- case wait_middle: if(is_action_running())
- state=wait_middle;
- else
- {
- if(mtn_lib_current_foot==left_foot)
- {
- if(mtn_lib_stop==0x01)
- {
- action_set_page(pages->end_r);
- state=wait_end;
- }
- else
- {
- action_set_page(pages->middle_r);
- state=wait_middle;
- }
- mtn_lib_current_foot=right_foot;
- action_start_page();
- }
- else
- {
- action_set_page(pages->middle_l);
- mtn_lib_current_foot=left_foot;
- action_start_page();
- state=wait_middle;
- }
- }
- break;
- case wait_end: if(is_action_running())
- state=wait_end;
- else
- {
- mtn_lib_stop=0x00;
- state=idle;
- done=0x01;
- }
- break;
- }
-
- return done;
-}
-
-uint8_t mtn_lib_right(TPages *pages)
-{
- static full_states state=idle;
- uint8_t done=0x00;
-
- switch(state)
- {
- case idle: if(mtn_lib_start_foot==left_foot)
- action_set_page(pages->start_l);
- else
- action_set_page(pages->start_r);
- action_start_page();
- mtn_lib_current_foot=mtn_lib_start_foot;
- state=wait_start;
- break;
- case wait_start: if(is_action_running())
- state=wait_start;
- else
- {
- if(mtn_lib_current_foot==right_foot)
- {
- if(mtn_lib_stop==0x01)
- {
- action_set_page(pages->end_l);
- state=wait_end;
- }
- else
- {
- action_set_page(pages->middle_l);
- state=wait_middle;
- }
- mtn_lib_current_foot=left_foot;
- action_start_page();
- }
- else
- {
- action_set_page(pages->middle_r);
- mtn_lib_current_foot=right_foot;
- action_start_page();
- state=wait_middle;
- }
- }
- break;
- case wait_middle: if(is_action_running())
- state=wait_middle;
- else
- {
- if(mtn_lib_current_foot==right_foot)
- {
- if(mtn_lib_stop==0x01)
- {
- action_set_page(pages->end_l);
- state=wait_end;
- }
- else
- {
- action_set_page(pages->middle_l);
- state=wait_middle;
- }
- mtn_lib_current_foot=left_foot;
- action_start_page();
- }
- else
- {
- action_set_page(pages->middle_r);
- mtn_lib_current_foot=right_foot;
- action_start_page();
- state=wait_middle;
- }
- }
- break;
- case wait_end: if(is_action_running())
- state=wait_end;
- else
- {
- mtn_lib_stop=0x00;
- state=idle;
- done=0x01;
- }
- break;
- }
-
- return done;
-}
-
-/* public functions */
-void mtn_lib_init(void)
-{
- mtn_lib_stop=0x00;
- mtn_lib_start_foot=left_foot;
- mtn_lib_current_foot=left_foot;
-}
-
-void mtn_lib_stop_mtn(void)
-{
- mtn_lib_stop=0x01;
-}
-
-void mtn_lib_set_start_foot(foot_t foot)
-{
- mtn_lib_start_foot=foot;
-}
-
-uint8_t walk_forward(void)
-{
- return mtn_lib_full(&mtn_pages[mtn_fwd]);
-}
-
-uint8_t walk_backward(void)
-{
- return mtn_lib_full(&mtn_pages[mtn_bwd]);
-}
-
-uint8_t turn_left(void)
-{
- return mtn_lib_left(&mtn_pages[mtn_turn_left]);
-}
-
-uint8_t turn_right(void)
-{
- return mtn_lib_right(&mtn_pages[mtn_turn_right]);
-}
-
-uint8_t walk_left(void)
-{
- return mtn_lib_left(&mtn_pages[mtn_left]);
-}
-
-uint8_t walk_right(void)
-{
- return mtn_lib_right(&mtn_pages[mtn_right]);
-}
-
-uint8_t walk_forward_turn_left(void)
-{
- return mtn_lib_left(&mtn_pages[mtn_fwd_turn_left]);
-}
-
-uint8_t walk_forward_turn_right(void)
-{
- return mtn_lib_right(&mtn_pages[mtn_fwd_turn_right]);
-}
-
-uint8_t walk_backward_turn_left(void)
-{
- return mtn_lib_left(&mtn_pages[mtn_bwd_turn_left]);
-}
-
-uint8_t walk_backward_turn_right(void)
-{
- return mtn_lib_right(&mtn_pages[mtn_bwd_turn_right]);
-}
-
-uint8_t walk_forward_left(void)
-{
- return mtn_lib_left(&mtn_pages[mtn_fwd_left]);
-}
-
-uint8_t walk_forward_right(void)
-{
- return mtn_lib_right(&mtn_pages[mtn_fwd_right]);
-}
-
-uint8_t walk_backward_left(void)
-{
- return mtn_lib_left(&mtn_pages[mtn_bwd_left]);
-}
-
-uint8_t walk_backward_right(void)
-{
- return mtn_lib_right(&mtn_pages[mtn_bwd_right]);
-}
-
-
-uint8_t fast_walk_forward(void)
-{
- return mtn_lib_full(&mtn_pages[mtn_fast_fwd]);
-}
-
-uint8_t fast_walk_backward(void)
-{
- return mtn_lib_full(&mtn_pages[mtn_fast_bwd]);
-}
-
-uint8_t fast_turn_left(void)
-{
-return 1;
-}
-
-uint8_t fast_turn_right(void)
-{
-return 1;
-}
-
-uint8_t fast_walk_left(void)
-{
-return 1;
-}
-
-uint8_t fast_walk_right(void)
-{
-return 1;
-}
-
-uint8_t fast_walk_forward_turn_left(void)
-{
-return 1;
-}
-
-uint8_t fast_walk_forward_turn_right(void)
-{
-return 1;
-}
-
-uint8_t fast_walk_backward_turn_left(void)
-{
-return 1;
-}
-
-uint8_t fast_walk_backward_turn_right(void)
-{
-return 1;
-}
-
-
diff --git a/examples/dexter/mtn_library.o b/examples/dexter/mtn_library.o
deleted file mode 100644
index 3463872a41538f0675221c56fe01c110d1894069..0000000000000000000000000000000000000000
GIT binary patch
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diff --git a/examples/stairs/Makefile b/examples/stairs/Makefile
index d05e5a1..746c9e6 100644
--- a/examples/stairs/Makefile
+++ b/examples/stairs/Makefile
@@ -2,7 +2,7 @@ PROJECT=stairs
########################################################
# afegir tots els fitxers que s'han de compilar aquÃ
########################################################
-SOURCES=stairs.c
+SOURCES=stairs.c ../mtn_library.c
OBJS=$(SOURCES:.c=.o)
SRC_DIR=./
@@ -16,7 +16,7 @@ MMCU=atmega2561
LIBS=$(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$(MAN_DIR)include
+INCLUDE_DIRS=-I$(DEV_DIR)include -I$(COMM_DIR)include -I$(CONT_DIR)include -I$(MAN_DIR)include -I../movements
CFLAGS=-mmcu=$(MMCU) -Wall -Os $(defines) -DF_CPU=16000000UL -gdwarf-2 -std=gnu99 -funsigned-char -funsigned-bitfields -fpack-struct -fshort-enums -Wstrict-prototypes
diff --git a/examples/stairs/stairs.c b/examples/stairs/stairs.c
index f380049..c9587e4 100644
--- a/examples/stairs/stairs.c
+++ b/examples/stairs/stairs.c
@@ -3,98 +3,89 @@
#include "cm510.h"
#include "balance.h"
#include "exp_board.h"
+#include "mtn_library.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;
+typedef enum {wait_start,wait_ready,walk_to_stairs1,wait_stop1,up_stairs1} main_states;
+typedef enum {up_idle,up_wait_stop,up_wait_step1,up_delay1,up_wait_step2,up_wait_step3,up_wait_step4,wait_ready_up} stairs_up_states;
+typedef enum {down_idle,down_wait_stop,down_wait_step1,down_wait_step2,down_wait_step3,wait_ready_down} stairs_down_states;
uint8_t stairs_up_process(void)
{
- static stairs_up_states state=idle;
+ static stairs_up_states state=up_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 up_idle: if(is_action_running())
+ {
+ action_stop_page();
+ state = up_wait_stop;
+ }
+ else
+ {
+ action_set_page(227);
+ action_start_page();
+ state = up_wait_step1;
+ }
+ break;
+ case up_wait_stop: if(is_action_running())
+ state = up_wait_stop;
+ else
+ {
+ action_set_page(227);
+ action_start_page();
+ state = up_wait_step1;
+ }
+ break;
+ case up_wait_step1: if(is_action_running())
+ state = up_wait_step1;
+ else
+ {
+ user_time_set_one_time(1500);
+ state = up_delay1;
+ }
+ break;
+ case up_delay1: if(user_time_is_done())
+ {
+ action_set_page(224);
+ action_start_page();
+ state = up_wait_step2;
+ }
+ else
+ state = up_delay1;
+ break;
+ case up_wait_step2: if(is_action_running())
+ state = up_wait_step2;
+ else
+ {
+ action_set_page(225);
+ action_start_page();
+ state = up_wait_step3;
+ }
+ break;
+ case up_wait_step3: if(is_action_running())
+ state = up_wait_step3;
+ else
+ {
+ action_set_page(226);
+ action_start_page();
+ state = up_wait_step4;
+ }
+ break;
+ case up_wait_step4: if(is_action_running())
+ state = up_wait_step4;
+ else
+ {
+ action_set_page(31);
+ action_start_page();
+ state = wait_ready_up;
+ }
+ break;
case wait_ready_up: if(is_action_running())
state = wait_ready_up;
else
{
- state=idle;
+ state=up_idle;
done=0x01;
}
break;
@@ -104,6 +95,74 @@ uint8_t stairs_up_process(void)
}
+uint8_t stairs_down_process(void)
+{
+ static stairs_down_states state=down_idle;
+ uint8_t done=0x00;
+
+ switch(state)
+ {
+ case down_idle: if(is_action_running())
+ {
+ action_stop_page();
+ state = down_wait_stop;
+ }
+ else
+ {
+ action_set_page(228);
+ action_start_page();
+ state = down_wait_step1;
+ }
+ break;
+ case down_wait_stop: if(is_action_running())
+ state = down_wait_stop;
+ else
+ {
+ action_set_page(228);
+ action_start_page();
+ state = down_wait_step1;
+ }
+ break;
+ case down_wait_step1: if(is_action_running())
+ state = down_wait_step1;
+ else
+ {
+ action_set_page(229);
+ action_start_page();
+ state = down_wait_step2;
+ }
+ break;
+ case down_wait_step2: if(is_action_running())
+ state = down_wait_step2;
+ else
+ {
+ action_set_page(230);
+ action_start_page();
+ state = down_wait_step3;
+ }
+ break;
+ case down_wait_step3: if(is_action_running())
+ state = down_wait_step3;
+ else
+ {
+ action_set_page(31);
+ action_start_page();
+ state = wait_ready_down;
+ }
+ break;
+ case wait_ready_down: if(is_action_running())
+ state = wait_ready_down;
+ else
+ {
+ state=down_idle;
+ done=0x01;
+ }
+ break;
+ }
+
+ return done;
+}
+
void user_init(void)
{
serial_console_init(57600);
@@ -111,6 +170,7 @@ void user_init(void)
balance_calibrate_gyro();
balance_enable_gyro();
user_time_set_period(100);
+ mtn_lib_init();
}
void user_loop(void)
@@ -131,12 +191,30 @@ void user_loop(void)
case wait_ready: if(is_action_running())
state=wait_ready;
else
- state=up_stairs;
+ {
+ walk_forward();
+ state=walk_to_stairs1;
+ }
+ break;
+ case walk_to_stairs1: if(exp_gpio_get_value(GPIO0) || exp_gpio_get_value(GPIO3))
+ {
+ mtn_lib_stop_mtn();
+ state=wait_stop1;
+ }
+ else
+ state=walk_to_stairs1;
+ walk_forward();
+ break;
+ case wait_stop1: if(walk_forward())
+ state=up_stairs1;
+ else
+ state=wait_stop1;
+ break;
+ case up_stairs1: if(stairs_up_process())
+ state=wait_start;
+ else
+ state=up_stairs1;
break;
- case up_stairs: if(stairs_up_process())
- state=wait_start;
- else
- state=up_stairs;
- break;
}
}
+
diff --git a/motion/include/action_id.h b/motion/include/action_id.h
index 32ca4ee..8cfcd35 100644
--- a/motion/include/action_id.h
+++ b/motion/include/action_id.h
@@ -129,7 +129,9 @@
#define stairs_up_1 224
#define stairs_up_2 225
#define stairs_up_3 226
-#define stairs_up_4 227
-#define stairs_down 228
+#define Init 227
+#define stairs_down1 228
+#define stairs_down2 229
+#define stairs_down3 230
#endif
--
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