Revision 17:2df9861f53ee, committed 2014-02-24

Comitter:

DavidEGrayson

Date:

Mon Feb 24 01:38:55 2014 +0000

Parent:

16:8eaa5bc2bdb1

Child:

18:b65fbb795396

Commit message:

Created a stub driveHome routine that we need to fill in.

Changed in this revision

--- a/buttons.cpp	Mon Feb 24 01:26:00 2014 +0000
+++ b/buttons.cpp	Mon Feb 24 01:38:55 2014 +0000
@@ -27,7 +27,7 @@
 {
     button1Montior();
     return button1Debouncer.getState() == state &&
-      button1Debouncer.getTimeInCurrentStateMicroseconds() > BUTTON_DEBOUNCE_TIME;   
+      button1Debouncer.getTimeInCurrentStateMicroseconds() > BUTTON_DEBOUNCE_TIME;
 }
 
 bool button1DefinitelyPressed()

--- a/main.cpp	Mon Feb 24 01:26:00 2014 +0000
+++ b/main.cpp	Mon Feb 24 01:38:55 2014 +0000
@@ -23,7 +23,8 @@
     //testEncoders();
     //testLineSensors();
     //testReckoner();
-    testButtons();
+    //testButtons();
+    testDriveHome();
 
     while(1)
     {
@@ -31,6 +32,15 @@
     }
 }
 
+void __attribute__((noreturn)) driveHome()
+{
+    led1 = 1; led2 = 1; led3 = 0; led4 = 0;
+    while(1)
+    {
+        
+    }
+}
+
 void updateReckonerFromEncoders()
 {
     while(encoderBuffer.hasEvents())
@@ -38,19 +48,19 @@
         PololuEncoderEvent event = encoderBuffer.readEvent();
         switch(event)
         {
-            case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC:
-                reckoner.handleTickLeftForward();
-                break;
-            case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC:
-                reckoner.handleTickLeftBackward();
-                break;
-            case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC:
-                reckoner.handleTickRightForward();
-                break;
-            case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC:
-                reckoner.handleTickRightBackward();
-                break;
-                   
+        case ENCODER_LEFT | POLOLU_ENCODER_EVENT_INC:
+            reckoner.handleTickLeftForward();
+            break;
+        case ENCODER_LEFT | POLOLU_ENCODER_EVENT_DEC:
+            reckoner.handleTickLeftBackward();
+            break;
+        case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_INC:
+            reckoner.handleTickRightForward();
+            break;
+        case ENCODER_RIGHT | POLOLU_ENCODER_EVENT_DEC:
+            reckoner.handleTickRightBackward();
+            break;
         }
     }
 }
+

--- a/test.cpp	Mon Feb 24 01:26:00 2014 +0000
+++ b/test.cpp	Mon Feb 24 01:38:55 2014 +0000
@@ -12,39 +12,26 @@
 #include "reckoner.h"
 #include "buttons.h"
 
-#include <GeneralDebouncer.h>  // tmphax
-extern GeneralDebouncer button1Debouncer;  // tmphax
-
+void __attribute__((noreturn)) driveHome();
 void printBar(const char * name, uint16_t adcResult);
 
-void testDriveHomoe()
+void testDriveHome()
 {
-    led1 = 1;
-    
+    led1 = 1;   
+    while(button1DefinitelyPressed())
+    {
+        updateReckonerFromEncoders();
+    }   
+    driveHome();
 }
 
+
 void testButtons()
 {
     led1 = 1;
     
-    Pacer reportPacer(100000);
-    
-    while(!button1DefinitelyReleased())
-    {
-        if (false && reportPacer.pace())
-        {
-            pc.printf("%1d %11d %11d %11d %11d\r\n",
-              button1Debouncer.firstReportReceived,
-              button1Debouncer.maxUpdateIntervalMicroseconds,
-              button1Debouncer.lastReportTimeMicroseconds,
-              button1Debouncer.spanBeginTimeMicroseconds,
-              button1Debouncer.currentState
-              );
-        }
-    }
-    while(!button1DefinitelyPressed())
-    {
-    }
+    while(!button1DefinitelyReleased());
+    while(!button1DefinitelyPressed());
     led2 = 1;
 
     while(!button1DefinitelyReleased());

--- a/test.h	Mon Feb 24 01:26:00 2014 +0000
+++ b/test.h	Mon Feb 24 01:38:55 2014 +0000
@@ -9,4 +9,5 @@
 
 // These are actually defined in main.h:
 
-void updateReckonerFromEncoders();
\ No newline at end of file
+void updateReckonerFromEncoders();
+void __attribute__((noreturn)) driveHome();
\ No newline at end of file