2 * Copyright Droids Corporation, Microb Technology, Eirbot (2005)
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; either version 2 of the License, or
7 * (at your option) any later version.
9 * This program is distributed in the hope that it will be useful,
10 * but WITHOUT ANY WARRANTY; without even the implied warranty of
11 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12 * GNU General Public License for more details.
14 * You should have received a copy of the GNU General Public License
15 * along with this program; if not, write to the Free Software
16 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
18 * Revision : $Id: main.c,v 1.9.4.5 2007-06-01 09:37:22 zer0 Exp $
27 #include <aversive/error.h>
30 #include <scheduler.h>
35 #include <control_system_manager.h>
36 #include <trajectory_manager.h>
37 #include <blocking_detection_manager.h>
38 #include <robot_system.h>
39 #include <position_manager.h>
46 static int32_t l_pwm, r_pwm;
47 static int32_t l_enc, r_enc;
51 #define FILTER2 (100-FILTER)
53 /* must be called periodically */
54 void robotsim_update(void)
56 static int32_t l_speed, r_speed;
59 l_speed = ((l_speed * FILTER) / 100) + ((l_pwm * 1000 * FILTER2)/1000);
60 l_enc += (l_speed / 1000);
61 r_speed = ((r_speed * FILTER) / 100) + ((r_pwm * 1000 * FILTER2)/1000);
62 r_enc += (r_speed / 1000);
65 void robotsim_pwm(void *arg, int32_t val)
67 // printf("%p, %d\n", arg, val);
70 else if (arg == RIGHT_PWM)
74 int32_t robotsim_encoder_get(void *arg)
76 if (arg == LEFT_ENCODER)
78 else if (arg == RIGHT_ENCODER)