Commit from zer0 on branch b_zer0 (2008-03-31 18:51 CEST) =================================
update position_manager and angle_distance aversive modules/devices/robot/position_manager/position_manager.c 1.6.4.3 aversive modules/devices/robot/robot_system/angle_distance.c 1.4.4.3 ================================================================== aversive/modules/devices/robot/position_manager/position_manager.c (1.6.4.2 -> 1.6.4.3) ================================================================== @@ -15,7 +15,7 @@ * 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: position_manager.c,v 1.6.4.2 2007-08-19 10:39:31 zer0 Exp $ + * Revision : $Id: position_manager.c,v 1.6.4.3 2008-03-31 16:51:27 zer0 Exp $ * */ @@ -109,7 +109,7 @@ */ void position_manage(struct robot_position * pos) { - double x, y, a; + double x, y, a, r, arc_angle; s16 x_s16, y_s16, a_s16; struct rs_polar encoders; struct rs_polar delta; @@ -148,17 +148,28 @@ x = pos->pos_d.x; y = pos->pos_d.y; IRQ_UNLOCK(flags); - - a += (double) delta.angle / (pos->phys.track_cm * pos->phys.distance_imp_per_cm/2); + + + if (delta.angle == 0) { + /* we go straight */ + x = x + cos(a) * ((double) delta.distance / (pos->phys.distance_imp_per_cm)) ; + y = y + sin(a) * ((double) delta.distance / (pos->phys.distance_imp_per_cm)) ; + } + else { + /* r the radius of the circle arc */ + r = (double)delta.distance * pos->phys.track_cm / (double) delta.angle; + arc_angle = (double) delta.angle / (pos->phys.track_cm * pos->phys.distance_imp_per_cm); + + x += r * (-sin(a) + sin(a+arc_angle)); + y += r * (cos(a) - cos(a+arc_angle)); + a += arc_angle; + } if(a < -M_PI) a += (M_PI*2); else if (a > (M_PI)) a -= (M_PI*2); - x += cos(a) * ((double) delta.distance / (pos->phys.distance_imp_per_cm)) ; - y += sin(a) * ((double) delta.distance / (pos->phys.distance_imp_per_cm)) ; - /* update int position */ x_s16 = (int16_t)x; y_s16 = (int16_t)y; ============================================================ aversive/modules/devices/robot/robot_system/angle_distance.c (1.4.4.2 -> 1.4.4.3) ============================================================ @@ -15,7 +15,7 @@ * 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: angle_distance.c,v 1.4.4.2 2007-06-17 21:23:41 zer0 Exp $ + * Revision : $Id: angle_distance.c,v 1.4.4.3 2008-03-31 16:51:27 zer0 Exp $ * */ @@ -27,8 +27,8 @@ */ void rs_get_polar_from_wheels(struct rs_polar * p_dst, struct rs_wheels * w_src) { - p_dst->distance = w_src->right + w_src->left; - p_dst->angle = w_src->right - w_src->left; + p_dst->distance = (w_src->right + w_src->left) / 2; + p_dst->angle = (w_src->right - w_src->left) / 2; } /** @@ -36,7 +36,7 @@ */ void rs_get_wheels_from_polar(struct rs_wheels * w_dst, struct rs_polar * p_src) { - w_dst->left = (p_src->distance - p_src->angle) / 2; - w_dst->right = (p_src->distance + p_src->angle) / 2; + w_dst->left = p_src->distance - p_src->angle; + w_dst->right = p_src->distance + p_src->angle; } Commit from zer0 (2008-03-31 18:51 CEST) ================ update coefs after position_manager modification aversive_projects microb2008/main/main.h 1.15 ======================================== aversive_projects/microb2008/main/main.h (1.14 -> 1.15) ======================================== @@ -15,7 +15,7 @@ * 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.h,v 1.14 2008-03-30 22:02:53 zer0 Exp $ + * Revision : $Id: main.h,v 1.15 2008-03-31 16:51:47 zer0 Exp $ * */ @@ -42,11 +42,11 @@ #define EXT_TRACK_CM 29.9 #define VIRTUAL_TRACK_CM EXT_TRACK_CM -/* it should be a 2000 imps ; huh ? +/* it is a 2000 imps -> 8000 because we see 1/4 period * and diameter: 40.5mm -> perimeter 127.23mm - * 16000/12.723 -> 1257.565 */ + * 8000/12.723 -> 628.78 */ /* increase it to go further */ -#define DIST_IMP_CM 1270.0 +#define DIST_IMP_CM 635.0 #define LEFT_ENCODER_MOT ((void *)1) #define RIGHT_ENCODER_MOT ((void *)0) Commit from zer0 on branch b_zer0 (2008-04-01 00:16 CEST) ================================= fix comment aversive modules/devices/robot/trajectory_manager/trajectory_manager.c 1.4.4.9 aversive modules/devices/robot/trajectory_manager/trajectory_manager.h 1.4.4.7 ====================================================================== aversive/modules/devices/robot/trajectory_manager/trajectory_manager.c (1.4.4.8 -> 1.4.4.9) ====================================================================== @@ -15,7 +15,7 @@ * 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: trajectory_manager.c,v 1.4.4.8 2008-03-27 19:22:19 zer0 Exp $ + * Revision : $Id: trajectory_manager.c,v 1.4.4.9 2008-03-31 22:16:50 zer0 Exp $ * */ ====================================================================== aversive/modules/devices/robot/trajectory_manager/trajectory_manager.h (1.4.4.6 -> 1.4.4.7) ====================================================================== @@ -15,7 +15,7 @@ * 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: trajectory_manager.h,v 1.4.4.6 2008-03-27 19:22:19 zer0 Exp $ + * Revision : $Id: trajectory_manager.h,v 1.4.4.7 2008-03-31 22:16:50 zer0 Exp $ * */ @@ -130,7 +130,7 @@ /** update angle consign without changing distance consign */ void trajectory_only_a_rel(struct trajectory * traj, double a_deg); -/** turn by 'a' degrees */ +/** turn by 'a' degrees and go by 'd' cm */ void trajectory_d_a_rel(struct trajectory * traj, double d_cm, double a_deg); /* commands using events */ Commit from zer0 (2008-04-01 00:22 CEST) ================ - Add command for camera (dump and init) - Display position and time during strat - traj interruption by user aversive_projects microb2008/main/action.c 1.5 aversive_projects microb2008/main/action.h 1.3 aversive_projects microb2008/main/cam.c 1.4 aversive_projects microb2008/main/cam.h 1.3 aversive_projects microb2008/main/commands.c 1.18 aversive_projects microb2008/main/eeprom.c 1.2 aversive_projects microb2008/main/eeprom.h 1.2 aversive_projects microb2008/main/encoders_microb_config.h 1.3 aversive_projects microb2008/main/error_config.h 1.2 aversive_projects microb2008/main/i2c_config.h 1.2 aversive_projects microb2008/main/i2c_protocol.c 1.14 aversive_projects microb2008/main/i2c_protocol.h 1.10 aversive_projects microb2008/main/main.c 1.26 aversive_projects microb2008/main/main.h 1.16 aversive_projects microb2008/main/pwm_config.h 1.5 aversive_projects microb2008/main/scheduler_config.h 1.4 aversive_projects microb2008/main/sensor.c 1.4 aversive_projects microb2008/main/sensor.h 1.3 aversive_projects microb2008/main/strat.c 1.8 aversive_projects microb2008/main/strat.h 1.5 aversive_projects microb2008/main/strat_base.c 1.10 aversive_projects microb2008/main/strat_base.h 1.8 aversive_projects microb2008/main/time_config.h 1.3 aversive_projects microb2008/main/timer_config.h 1.2 aversive_projects microb2008/main/uart_config.h 1.5 ========================================== aversive_projects/microb2008/main/action.c (1.4 -> 1.5) ========================================== @@ -15,7 +15,7 @@ * 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: action.c,v 1.4 2008-03-24 17:59:46 zer0 Exp $ + * Revision : $Id: action.c,v 1.5 2008-03-31 22:22:52 zer0 Exp $ * */ ========================================== aversive_projects/microb2008/main/action.h (1.2 -> 1.3) ========================================== @@ -15,7 +15,7 @@ * 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: action.h,v 1.2 2007-12-31 16:23:48 zer0 Exp $ + * Revision : $Id: action.h,v 1.3 2008-03-31 22:22:52 zer0 Exp $ * */ ======================================= aversive_projects/microb2008/main/cam.c (1.3 -> 1.4) ======================================= @@ -16,7 +16,7 @@ * 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: cam.c,v 1.3 2008-03-24 17:59:46 zer0 Exp $ + * Revision : $Id: cam.c,v 1.4 2008-03-31 22:22:52 zer0 Exp $ * */ #include <avr/pgmspace.h> @@ -125,7 +125,7 @@ if (! wait_cond_or_timeout(cam_state == CAM_READY, CAM_TIMEOUT)) goto err; - return 0; + return cam_nb_balls; err: if (!cam_is_ok()) { ======================================= aversive_projects/microb2008/main/cam.h (1.2 -> 1.3) ======================================= @@ -16,7 +16,7 @@ * 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: cam.h,v 1.2 2008-03-24 17:59:46 zer0 Exp $ + * Revision : $Id: cam.h,v 1.3 2008-03-31 22:22:52 zer0 Exp $ * */ @@ -26,7 +26,7 @@ struct cam_ball { #define CAM_COLOR_BLUE 1 /* set if the ball color is blue */ #define CAM_COLOR_RED 2 /* set if the ball color is red */ -#define CAM_WHITE_BALL 4 /* set if the ball color is white */ +#define CAM_COLOR_WHITE 4 /* set if the ball color is white */ #define CAM_END_FRAME 128 /* set if there is no more ball in the frame */ uint8_t flags; ============================================ aversive_projects/microb2008/main/commands.c (1.17 -> 1.18) ============================================ @@ -21,7 +21,7 @@ #include "main.h" #include "i2c_protocol.h" #include "eeprom.h" -//#include "test.h" +#include "cam.h" #include "sensor.h" #include "../common/i2c_commands.h" #include "strat_base.h" @@ -1582,6 +1582,68 @@ }; /**********************************************************/ +/* Cam */ + +/* this structure is filled when cmd_cam is parsed successfully */ +struct cmd_cam_result { + fixed_string_t arg0; + fixed_string_t type; +}; + +/* function called when cmd_cam is parsed successfully */ +static void cmd_cam_parsed(void * parsed_result, void * data) +{ + struct cmd_cam_result *res = parsed_result; + int8_t n, i; + + if (!strcmp_P(res->type, PSTR("init"))) { + cam_init(); + } + + /* else it's a "dump" or a "harvest" */ + n = cam_get_balls(); + for (i=0 ; i<n; i++) { + if (cam_ball_tab[i].flags == CAM_COLOR_BLUE) + printf_P(PSTR("blue ")); + else if (cam_ball_tab[i].flags == CAM_COLOR_RED) + printf_P(PSTR("red ")); + else if (cam_ball_tab[i].flags == CAM_COLOR_WHITE) + printf_P(PSTR("white ")); + else + printf_P(PSTR("? ")); + printf_P(PSTR("%d cm, %d deg\r\n"), + cam_ball_tab[i].distance, + cam_ball_tab[i].angle); + } + if (!strcmp_P(res->type, PSTR("harvest"))) { + if (n) { + trajectory_goto_d_a_rel(&robot.traj, + cam_ball_tab[i].distance, + cam_ball_tab[i].angle); + wait_traj_end(0xFF); + trajectory_stop(&robot.traj); + } + } +} + +prog_char str_cam_arg0[] = "cam"; +parse_pgm_token_string_t cmd_cam_arg0 = TOKEN_STRING_INITIALIZER(struct cmd_cam_result, arg0, str_cam_arg0); +prog_char str_cam_type[] = "init#dump"; +parse_pgm_token_string_t cmd_cam_type = TOKEN_STRING_INITIALIZER(struct cmd_cam_result, type, str_cam_type); + +prog_char help_cam[] = "Cam the robot"; +parse_pgm_inst_t cmd_cam = { + .f = cmd_cam_parsed, /* function to call */ + .data = NULL, /* 2nd arg of func */ + .help_str = help_cam, + .tokens = { /* token list, NULL terminated */ + (prog_void *)&cmd_cam_arg0, + (prog_void *)&cmd_cam_type, + NULL, + }, +}; + +/**********************************************************/ /* Substrat */ /* this structure is filled when cmd_substrat is parsed successfully */ @@ -2478,6 +2540,7 @@ (parse_pgm_inst_t *)&cmd_log_type, (parse_pgm_inst_t *)&cmd_debug, (parse_pgm_inst_t *)&cmd_start, + (parse_pgm_inst_t *)&cmd_cam, (parse_pgm_inst_t *)&cmd_consign, (parse_pgm_inst_t *)&cmd_consign_all, (parse_pgm_inst_t *)&cmd_goto1, ========================================== aversive_projects/microb2008/main/eeprom.c (1.1 -> 1.2) ========================================== @@ -15,7 +15,7 @@ * 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: eeprom.c,v 1.1 2007-12-04 09:38:52 zer0 Exp $ + * Revision : $Id: eeprom.c,v 1.2 2008-03-31 22:22:52 zer0 Exp $ * */ ========================================== aversive_projects/microb2008/main/eeprom.h (1.1 -> 1.2) ========================================== @@ -15,7 +15,7 @@ * 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: eeprom.h,v 1.1 2007-12-04 09:38:52 zer0 Exp $ + * Revision : $Id: eeprom.h,v 1.2 2008-03-31 22:22:52 zer0 Exp $ * */ ========================================================== aversive_projects/microb2008/main/encoders_microb_config.h (1.2 -> 1.3) ========================================================== @@ -15,7 +15,7 @@ * 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: encoders_microb_config.h,v 1.2 2008-03-24 17:59:46 zer0 Exp $ + * Revision : $Id: encoders_microb_config.h,v 1.3 2008-03-31 22:22:52 zer0 Exp $ * */ #ifndef _ENCODERS_MICROB_CONFIG_H_ ================================================ aversive_projects/microb2008/main/error_config.h (1.1 -> 1.2) ================================================ @@ -15,7 +15,7 @@ * 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: error_config.h,v 1.1 2007-06-28 22:13:04 zer0 Exp $ + * Revision : $Id: error_config.h,v 1.2 2008-03-31 22:22:52 zer0 Exp $ * */ ============================================== aversive_projects/microb2008/main/i2c_config.h (1.1 -> 1.2) ============================================== @@ -15,7 +15,7 @@ * 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: i2c_config.h,v 1.1 2007-06-28 22:13:04 zer0 Exp $ + * Revision : $Id: i2c_config.h,v 1.2 2008-03-31 22:22:52 zer0 Exp $ * */ ================================================ aversive_projects/microb2008/main/i2c_protocol.c (1.13 -> 1.14) ================================================ @@ -15,7 +15,7 @@ * 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: i2c_protocol.c,v 1.13 2008-03-24 23:29:13 zer0 Exp $ + * Revision : $Id: i2c_protocol.c,v 1.14 2008-03-31 22:22:52 zer0 Exp $ * */ ================================================ aversive_projects/microb2008/main/i2c_protocol.h (1.9 -> 1.10) ================================================ @@ -15,7 +15,7 @@ * 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: i2c_protocol.h,v 1.9 2008-03-24 23:29:13 zer0 Exp $ + * Revision : $Id: i2c_protocol.h,v 1.10 2008-03-31 22:22:52 zer0 Exp $ * */ ======================================== aversive_projects/microb2008/main/main.c (1.25 -> 1.26) ======================================== @@ -15,7 +15,7 @@ * 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 1.25 2008-03-30 22:02:53 zer0 Exp $ + * Revision : $Id: main.c,v 1.26 2008-03-31 22:22:52 zer0 Exp $ * */ @@ -87,7 +87,7 @@ /* called every 5 ms */ void do_cs(void * dummy) { - static uint8_t cpt = 0; + static uint16_t cpt = 0; /* used for cs debugging */ static uint32_t debug_cs_cpt = 0; @@ -150,6 +150,13 @@ robot.pwm_r); } + if (cpt % 512 == 0) { + DEBUG(E_USER_STRAT, "time %d, position=%d,%d,%d", + position_get_x_s16(&robot.pos), + position_get_y_s16(&robot.pos), + position_get_a_deg_s16(&robot.pos)); + } + #if 0 if(robot.cs_events & DO_TIMER) { uint8_t second; @@ -227,6 +234,8 @@ static void emergency(char c) { static uint8_t i = 0; + /* interrupt traj here XXX */ + if( (i == 0 && c == 'p') || (i == 1 && c == 'o') || (i == 2 && c == 'p') ) @@ -404,6 +413,7 @@ 100000L / SCHEDULER_UNIT, LED_PRIO); /* I2C */ + wait_ms(50); i2c_protocol_init(); i2c_init(I2C_MODE_MASTER, I2C_MAIN_ADDR); i2c_register_recv_event(i2c_recvevent); @@ -439,7 +449,7 @@ /* CS DISTANCE */ pid_init(&robot.pid_d); pid_set_gains(&robot.pid_d, 400, 5, 11000); - pid_set_maximums(&robot.pid_d, 0, 50000, 4095); + pid_set_maximums(&robot.pid_d, 0, 50000, 0); pid_set_out_shift(&robot.pid_d, 6); pid_set_derivate_filter(&robot.pid_d, 6); @@ -457,7 +467,7 @@ /* CS ANGLE */ pid_init(&robot.pid_a); pid_set_gains(&robot.pid_a, 500, 5, 7000); - pid_set_maximums(&robot.pid_a, 0, 100000, 4095); + pid_set_maximums(&robot.pid_a, 0, 100000, 0); pid_set_out_shift(&robot.pid_a, 6); pid_set_derivate_filter(&robot.pid_a, 6); ======================================== aversive_projects/microb2008/main/main.h (1.15 -> 1.16) ======================================== @@ -15,7 +15,7 @@ * 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.h,v 1.15 2008-03-31 16:51:47 zer0 Exp $ + * Revision : $Id: main.h,v 1.16 2008-03-31 22:22:52 zer0 Exp $ * */ ============================================== aversive_projects/microb2008/main/pwm_config.h (1.4 -> 1.5) ============================================== @@ -15,7 +15,7 @@ * 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: pwm_config.h,v 1.4 2008-03-24 17:59:46 zer0 Exp $ + * Revision : $Id: pwm_config.h,v 1.5 2008-03-31 22:22:52 zer0 Exp $ * */ ==================================================== aversive_projects/microb2008/main/scheduler_config.h (1.3 -> 1.4) ==================================================== @@ -15,7 +15,7 @@ * 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: scheduler_config.h,v 1.3 2007-12-04 09:38:52 zer0 Exp $ + * Revision : $Id: scheduler_config.h,v 1.4 2008-03-31 22:22:52 zer0 Exp $ * */ ========================================== aversive_projects/microb2008/main/sensor.c (1.3 -> 1.4) ========================================== @@ -15,7 +15,7 @@ * 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: sensor.c,v 1.3 2008-01-05 22:47:12 zer0 Exp $ + * Revision : $Id: sensor.c,v 1.4 2008-03-31 22:22:52 zer0 Exp $ * */ ========================================== aversive_projects/microb2008/main/sensor.h (1.2 -> 1.3) ========================================== @@ -15,7 +15,7 @@ * 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: sensor.h,v 1.2 2008-01-05 22:47:12 zer0 Exp $ + * Revision : $Id: sensor.h,v 1.3 2008-03-31 22:22:52 zer0 Exp $ * */ ========================================= aversive_projects/microb2008/main/strat.c (1.7 -> 1.8) ========================================= @@ -15,7 +15,7 @@ * 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: strat.c,v 1.7 2008-03-30 22:02:53 zer0 Exp $ + * Revision : $Id: strat.c,v 1.8 2008-03-31 22:22:52 zer0 Exp $ * */ ========================================= aversive_projects/microb2008/main/strat.h (1.4 -> 1.5) ========================================= @@ -15,7 +15,7 @@ * 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: strat.h,v 1.4 2008-03-30 22:02:53 zer0 Exp $ + * Revision : $Id: strat.h,v 1.5 2008-03-31 22:22:52 zer0 Exp $ * */ ============================================== aversive_projects/microb2008/main/strat_base.c (1.9 -> 1.10) ============================================== @@ -15,7 +15,7 @@ * 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: strat_base.c,v 1.9 2008-03-30 22:02:53 zer0 Exp $ + * Revision : $Id: strat_base.c,v 1.10 2008-03-31 22:22:52 zer0 Exp $ * */ #include <stdio.h> @@ -36,6 +36,8 @@ #include "main.h" #include "../common/i2c_commands.h" +static uint8_t traj_intr=0; + /* Strings that match the end traj cause */ /* /!\ keep it sync with stat_base.h */ const char * err_tab []= { @@ -357,9 +359,18 @@ strat_uninit(); } +void interrupt_traj(void) +{ + traj_intr = 1; +} uint8_t test_traj_end(uint8_t why) { + if ((why & END_INTR) && traj_intr) { + traj_intr = 0; + return END_INTR; + } + if ((why & END_TRAJ) && trajectory_finished(&robot.traj)) return END_TRAJ; ============================================== aversive_projects/microb2008/main/strat_base.h (1.7 -> 1.8) ============================================== @@ -15,7 +15,7 @@ * 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: strat_base.h,v 1.7 2008-03-30 22:02:53 zer0 Exp $ + * Revision : $Id: strat_base.h,v 1.8 2008-03-31 22:22:52 zer0 Exp $ * */ @@ -30,6 +30,7 @@ #define END_NEAR 4 /* we are near destination */ #define END_OBSTACLE 8 /* There is an obstacle in front of us */ #define END_ERROR 16 /* Cannot do the command */ +#define END_INTR 128 /* interrupted by user */ #define BLUE I2C_EXTENSION_COLOR_BLUE #define RED I2C_EXTENSION_COLOR_RED @@ -64,6 +65,7 @@ uint8_t get_opponent_color(void); void start(void); +void interrupt_traj(void); uint8_t test_traj_end(uint8_t why); uint8_t wait_traj_end(uint8_t why); =============================================== aversive_projects/microb2008/main/time_config.h (1.2 -> 1.3) =============================================== @@ -15,7 +15,7 @@ * 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: time_config.h,v 1.2 2007-12-04 09:38:52 zer0 Exp $ + * Revision : $Id: time_config.h,v 1.3 2008-03-31 22:22:52 zer0 Exp $ * */ ================================================ aversive_projects/microb2008/main/timer_config.h (1.1 -> 1.2) ================================================ @@ -15,7 +15,7 @@ * 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: timer_config.h,v 1.1 2007-06-28 22:13:04 zer0 Exp $ + * Revision : $Id: timer_config.h,v 1.2 2008-03-31 22:22:52 zer0 Exp $ * */ =============================================== aversive_projects/microb2008/main/uart_config.h (1.4 -> 1.5) =============================================== @@ -15,7 +15,7 @@ * 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: uart_config.h,v 1.4 2008-03-02 17:17:19 zer0 Exp $ + * Revision : $Id: uart_config.h,v 1.5 2008-03-31 22:22:52 zer0 Exp $ * */ _______________________________________________ Avr-list mailing list Avr-list@droids-corp.org CVSWEB : http://cvsweb.droids-corp.org/cgi-bin/viewcvs.cgi/aversive WIKI : http://wiki.droids-corp.org/index.php/Aversive DOXYGEN : http://zer0.droids-corp.org/doxygen_aversive/html/ BUGZILLA : http://bugzilla.droids-corp.org COMMIT LOGS : http://zer0.droids-corp.org/aversive_commitlog