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Commit e2b4a2ce authored by Sergi Hernandez's avatar Sergi Hernandez
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Updated the stairs example to use the motion librray and the actual GPIO ports.

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examples/stairs/Makefile
+ 1
− 1
View file @ e2b4a2ce
...@@ -2,7 +2,7 @@ PROJECT=stairs ...@@ -2,7 +2,7 @@ PROJECT=stairs
######################################################## ########################################################
# afegir tots els fitxers que s'han de compilar aquí # afegir tots els fitxers que s'han de compilar aquí
######################################################## ########################################################
SOURCES=stairs.c ../mtn_library.c SOURCES=stairs.c
OBJS=$(SOURCES:.c=.o) OBJS=$(SOURCES:.c=.o)
SRC_DIR=./ SRC_DIR=./
......
examples/stairs/stairs.c
+ 2
− 159
View file @ e2b4a2ce
...@@ -6,162 +6,6 @@ ...@@ -6,162 +6,6 @@
#include "mtn_library.h" #include "mtn_library.h"
typedef enum {wait_start,wait_ready,walk_to_stairs1,wait_stop1,up_stairs1} main_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=up_idle;
uint8_t done=0x00;
switch(state)
{
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=up_idle;
done=0x01;
}
break;
}
return done;
}
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) void user_init(void)
{ {
...@@ -170,7 +14,6 @@ void user_init(void) ...@@ -170,7 +14,6 @@ void user_init(void)
balance_calibrate_gyro(); balance_calibrate_gyro();
balance_enable_gyro(); balance_enable_gyro();
user_time_set_period(100); user_time_set_period(100);
mtn_lib_init();
} }
void user_loop(void) void user_loop(void)
...@@ -196,7 +39,7 @@ void user_loop(void) ...@@ -196,7 +39,7 @@ void user_loop(void)
state=walk_to_stairs1; state=walk_to_stairs1;
} }
break; break;
case walk_to_stairs1: if(exp_gpio_get_value(GPIO0) || exp_gpio_get_value(GPIO3)) case walk_to_stairs1: if(exp_gpio_get_value(GPIO1)==0x00 || exp_gpio_get_value(GPIO18)==0x00)
{ {
mtn_lib_stop_mtn(); mtn_lib_stop_mtn();
state=wait_stop1; state=wait_stop1;
...@@ -210,7 +53,7 @@ void user_loop(void) ...@@ -210,7 +53,7 @@ void user_loop(void)
else else
state=wait_stop1; state=wait_stop1;
break; break;
case up_stairs1: if(stairs_up_process()) case up_stairs1: if(stairs_up_process(robot_standing))
state=wait_start; state=wait_start;
else else
state=up_stairs1; state=up_stairs1;
......
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