From e2b4a2ce555fa3e283321a8599f9e92a3a0af10e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Thu, 6 Oct 2016 00:13:06 +0200
Subject: [PATCH] Updated the stairs example to use the motion librray and the
actual GPIO ports.
---
examples/stairs/Makefile | 2 +-
examples/stairs/stairs.c | 161 +--------------------------------------
2 files changed, 3 insertions(+), 160 deletions(-)
diff --git a/examples/stairs/Makefile b/examples/stairs/Makefile
index 09812e8..0bde160 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 ../mtn_library.c
+SOURCES=stairs.c
OBJS=$(SOURCES:.c=.o)
SRC_DIR=./
diff --git a/examples/stairs/stairs.c b/examples/stairs/stairs.c
index c9587e4..f847f9d 100644
--- a/examples/stairs/stairs.c
+++ b/examples/stairs/stairs.c
@@ -6,162 +6,6 @@
#include "mtn_library.h"
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)
{
@@ -170,7 +14,6 @@ void user_init(void)
balance_calibrate_gyro();
balance_enable_gyro();
user_time_set_period(100);
- mtn_lib_init();
}
void user_loop(void)
@@ -196,7 +39,7 @@ void user_loop(void)
state=walk_to_stairs1;
}
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();
state=wait_stop1;
@@ -210,7 +53,7 @@ void user_loop(void)
else
state=wait_stop1;
break;
- case up_stairs1: if(stairs_up_process())
+ case up_stairs1: if(stairs_up_process(robot_standing))
state=wait_start;
else
state=up_stairs1;
--
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