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author
zer0
<zer0@carbon.local>
Wed, 5 May 2010 18:54:41 +0000
(20:54 +0200)
committer
zer0
<zer0@carbon.local>
Wed, 5 May 2010 18:54:41 +0000
(20:54 +0200)
projects/microb2010/cobboard/shovel.c
patch
|
blob
|
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projects/microb2010/mainboard/commands_traj.c
patch
|
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|
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projects/microb2010/mainboard/i2c_protocol.c
patch
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projects/microb2010/mainboard/robotsim.c
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projects/microb2010/mainboard/strat.c
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diff --git
a/projects/microb2010/cobboard/shovel.c
b/projects/microb2010/cobboard/shovel.c
index
bd0c7c9
..
b2a8cc0
100644
(file)
--- a/
projects/microb2010/cobboard/shovel.c
+++ b/
projects/microb2010/cobboard/shovel.c
@@
-44,7
+44,7
@@
#include "shovel.h"
#define SHOVEL_DOWN 100
#include "shovel.h"
#define SHOVEL_DOWN 100
-#define SHOVEL_MID
525
0
+#define SHOVEL_MID
450
0
#define SHOVEL_UP 11000
/* init spickle position at beginning */
#define SHOVEL_UP 11000
/* init spickle position at beginning */
diff --git
a/projects/microb2010/mainboard/commands_traj.c
b/projects/microb2010/mainboard/commands_traj.c
index
92ab9a0
..
1898bd8
100644
(file)
--- a/
projects/microb2010/mainboard/commands_traj.c
+++ b/
projects/microb2010/mainboard/commands_traj.c
@@
-833,7
+833,7
@@
static void auto_position(void)
COLOR_A(-90));
strat_hardstop();
COLOR_A(-90));
strat_hardstop();
- trajectory_d_rel(&mainboard.traj, -
7
0);
+ trajectory_d_rel(&mainboard.traj, -
18
0);
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
@@
-853,13
+853,13
@@
static void auto_position(void)
180);
strat_hardstop();
180);
strat_hardstop();
- trajectory_d_rel(&mainboard.traj, -
8
0);
+ trajectory_d_rel(&mainboard.traj, -
17
0);
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
time_wait_ms(250);
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
time_wait_ms(250);
- trajectory_a_rel(&mainboard.traj, COLOR_A(-1
35
));
+ trajectory_a_rel(&mainboard.traj, COLOR_A(-1
10
));
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
err = wait_traj_end(END_INTR|END_TRAJ);
if (err == END_INTR)
goto intr;
diff --git
a/projects/microb2010/mainboard/i2c_protocol.c
b/projects/microb2010/mainboard/i2c_protocol.c
index
3354e39
..
7a2c378
100644
(file)
--- a/
projects/microb2010/mainboard/i2c_protocol.c
+++ b/
projects/microb2010/mainboard/i2c_protocol.c
@@
-403,8
+403,7
@@
int8_t i2c_led_control(uint8_t addr, uint8_t led, uint8_t state)
int8_t i2c_cobboard_set_mode(uint8_t mode)
{
#ifdef HOST_VERSION
int8_t i2c_cobboard_set_mode(uint8_t mode)
{
#ifdef HOST_VERSION
- cobboard.mode = mode;
- return 0;
+ return robotsim_i2c_cobboard_set_mode(mode);
#else
struct i2c_cmd_cobboard_set_mode buf;
buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
#else
struct i2c_cmd_cobboard_set_mode buf;
buf.hdr.cmd = I2C_CMD_COBBOARD_SET_MODE;
@@
-415,15
+414,11
@@
int8_t i2c_cobboard_set_mode(uint8_t mode)
static int8_t i2c_cobboard_set_spickle(uint8_t side, uint8_t flags)
{
static int8_t i2c_cobboard_set_spickle(uint8_t side, uint8_t flags)
{
-#ifdef HOST_VERSION
- return robotsim_i2c_cobboard_set_spickles(side, flags);
-#else
if (side == I2C_LEFT_SIDE)
cobboard.lspickle = flags;
else
cobboard.rspickle = flags;
return 0;
if (side == I2C_LEFT_SIDE)
cobboard.lspickle = flags;
else
cobboard.rspickle = flags;
return 0;
-#endif
}
int8_t i2c_cobboard_pack(uint8_t side)
}
int8_t i2c_cobboard_pack(uint8_t side)
diff --git
a/projects/microb2010/mainboard/robotsim.c
b/projects/microb2010/mainboard/robotsim.c
index
7c52835
..
2d0d7be
100644
(file)
--- a/
projects/microb2010/mainboard/robotsim.c
+++ b/
projects/microb2010/mainboard/robotsim.c
@@
-111,25
+111,16
@@
robotsim_i2c_ballboard_set_mode(struct i2c_cmd_ballboard_set_mode *cmd)
}
int8_t
}
int8_t
-robotsim_i2c_cobboard_set_
spickles(uint8_t side, uint8_t flags
)
+robotsim_i2c_cobboard_set_
mode(uint8_t mode
)
{
char buf[BUFSIZ];
int len;
{
char buf[BUFSIZ];
int len;
- if (side == I2C_LEFT_SIDE) {
- if (cobboard.lspickle == flags)
- return 0;
- else
- cobboard.lspickle = flags;
- }
- if (side == I2C_RIGHT_SIDE) {
- if (cobboard.rspickle == flags)
- return 0;
- else
- cobboard.rspickle = flags;
- }
+ if (cobboard.mode == mode)
+ return 0;
- len = snprintf(buf, sizeof(buf), "cobboard=%d,%d\n", side, flags);
+ cobboard.mode = mode;
+ len = snprintf(buf, sizeof(buf), "cobboard=%d\n", mode);
hostsim_lock();
write(fdw, buf, len);
hostsim_unlock();
hostsim_lock();
write(fdw, buf, len);
hostsim_unlock();
@@
-227,8
+218,8
@@
void robotsim_update(void)
((local_r_pwm * 1000 * FILTER2)/1000);
/* basic collision detection */
((local_r_pwm * 1000 * FILTER2)/1000);
/* basic collision detection */
- a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_
FRONT
);
- d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_
FRONT
);
+ a2 = atan2(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_
REAR
);
+ d = norm(ROBOT_WIDTH/2, ROBOT_HALF_LENGTH_
REAR
);
xfl = x + cos(a+a2) * d;
yfl = y + sin(a+a2) * d;
xfl = x + cos(a+a2) * d;
yfl = y + sin(a+a2) * d;
diff --git
a/projects/microb2010/mainboard/strat.c
b/projects/microb2010/mainboard/strat.c
index
db2221f
..
ad37ec4
100644
(file)
--- a/
projects/microb2010/mainboard/strat.c
+++ b/
projects/microb2010/mainboard/strat.c
@@
-350,9
+350,10
@@
static uint8_t strat_beginning(void)
uint8_t err;
strat_set_acc(ACC_DIST, ACC_ANGLE);
uint8_t err;
strat_set_acc(ACC_DIST, ACC_ANGLE);
- strat_set_speed(400, 150); /* OK */
+ strat_set_speed(600, 60); /* OK */
+ //strat_set_speed(250, 28); /* OK */
- trajectory_d_a_rel(&mainboard.traj,
800, COLOR_A(45
));
+ trajectory_d_a_rel(&mainboard.traj,
1000, COLOR_A(20
));
err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
TRAJ_FLAGS_STD);
err = WAIT_COND_OR_TRAJ_END(trajectory_angle_finished(&mainboard.traj),
TRAJ_FLAGS_STD);