first hostsim project

[aversive.git] / projects / microb2010 / tests / hostsim / robotsim.c

diff --git a/projects/microb2010/tests/hostsim/robotsim.c b/projects/microb2010/tests/hostsim/robotsim.c
new file mode 100644 (file)
index 0000000..6f4dbbf
--- /dev/null
+++ b/projects/microb2010/tests/hostsim/robotsim.c
@@ -0,0 +1,81 @@
+/*  
+ *  Copyright Droids Corporation, Microb Technology, Eirbot (2005)
+ * 
+ *  This program is free software; you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation; either version 2 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program; if not, write to the Free Software
+ *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ *
+ *  Revision : $Id: main.c,v 1.9.4.5 2007-06-01 09:37:22 zer0 Exp $
+ *
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include <stdint.h>
+
+#include <aversive.h>
+#include <aversive/error.h>
+
+#include <timer.h>
+#include <scheduler.h>
+#include <time.h>
+
+#include <pid.h>
+#include <quadramp.h>
+#include <control_system_manager.h>
+#include <trajectory_manager.h>
+#include <blocking_detection_manager.h>
+#include <robot_system.h>
+#include <position_manager.h>
+
+#include <parse.h>
+#include <rdline.h>
+
+#include "main.h"
+
+static int32_t l_pwm, r_pwm;
+static int32_t l_enc, r_enc;
+
+/* */
+#define FILTER  98
+#define FILTER2 (100-FILTER)
+
+/* must be called periodically */
+void robotsim_update(void)
+{
+       static int32_t l_speed, r_speed;
+
+       /* XXX should lock */
+       l_speed = ((l_speed * FILTER) / 100) + ((l_pwm * 1000 * FILTER2)/1000);
+       l_enc += (l_speed / 1000);
+       r_speed = ((r_speed * FILTER) / 100) + ((r_pwm * 1000 * FILTER2)/1000);
+       r_enc += (r_speed / 1000);
+}
+
+void robotsim_pwm(void *arg, int32_t val)
+{
+       //      printf("%p, %d\n", arg, val);
+       if (arg == LEFT_PWM)
+               l_pwm = val;
+       else if (arg == RIGHT_PWM)
+               r_pwm = val;
+}
+
+int32_t robotsim_encoder_get(void *arg)
+{
+       if (arg == LEFT_ENCODER)
+               return l_enc;
+       else if (arg == RIGHT_ENCODER)
+               return r_enc;
+       return 0;
+}