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SPQR-Team-2019-REVAMPED
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added testMenu, to be tested

pull/1/head
u-siri-ous 2020-03-03 11:52:39 +01:00
parent dddbbc1810
commit d06b553f15
5 changed files with 128 additions and 2 deletions
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4
include/motors_movement/drivecontroller.h
View File

@ -38,12 +38,12 @@ class DriveController{
int vxp, vyp, vxn, vyn;
bool canUnlock;
unsigned long unlockTime;
private:
Motor* m1;
Motor* m2;
Motor* m3;
Motor* m4;
private:
PID* pid;
ComplementaryFilter* speedFilter;
int pDir, pSpeed, pTilt, oldSpeed;

1
include/motors_movement/motor.h
View File

@ -8,6 +8,7 @@ class Motor {
Motor(int a, int b, int pwm, int angle);
Motor();
void drive(int speed);
void test();
public:
int pinA, pinB, pinPwm, angle;

10
include/test_menu.h Normal file
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@ -0,0 +1,10 @@
#pragma once
#define TEST_DELAY 100
class TestMenu{
public:
void testMenu();
char testNum, currentRole;
bool flagtest;
};

11
src/motors_movement/motor.cpp
View File

@ -35,4 +35,15 @@ void Motor::drive(int speed){
digitalWrite(pinA, VAL_INA);
digitalWrite(pinB, VAL_INB);
analogWrite(pinPwm, speed);
}
void Motor::test(){
digitalWrite(pinA, 1);
digitalWrite(pinB, 0);
analogWrite(pinPwm, 255);
delay(150);
digitalWrite(pinA, 0);
digitalWrite(pinB, 1);
analogWrite(pinPwm, 255);
delay(150);
}

104
src/test_menu.cpp Normal file
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@ -0,0 +1,104 @@
#include "test_menu.h"
#include "sensors/data_source_ball.h"
#include "sensors/data_source_bno055.h"
#include "sensors/data_source_bt.h"
#include "sensors/data_source_camera_conicmirror.h"
#include "sensors/linesys_camera.h"
#include "sensors/linesys_2019.h"
#include "sensors/sensors.h"
#include "motors_movement/motor.h"
#include "motors_movement/drivecontroller.h"
#include "position/positionsys_camera.h"
#include "strategy_roles/game.h"
#include "strategy_roles/games.h"
#include "behaviour_control/data_source.h"
void TestMenu :: testMenu(){
DEBUG.println();
DEBUG.println("Welcome to the test menu c:");
DEBUG.println("Set the baudrate to 9600 & NO LINE ENDING");
DEBUG.println("Hit correspondent key (1-->8) to execute and press ENTER");
DEBUG.println("Hit '0' to exit test menu");
DEBUG.println();
DEBUG.println("Test Menu: ");
DEBUG.println("0)Exit test menu and start playing");
DEBUG.println("1)Ball test");
DEBUG.println("2)IMU test");
DEBUG.println("3)Motors test");
DEBUG.println("4)Recenter");
DEBUG.println("5)BT test");
DEBUG.println("6)Camera test");
DEBUG.println("7)Line Sensors camera test");
DEBUG.println("8)Line Sensors test");
do{
testNum = DEBUG.read();
DEBUG.println();
DEBUG.println("Test:");
DEBUG.println(testNum);
DEBUG.println(" ");
if (testNum == '0') DEBUG.println("EXIT TEST MENU");
else if (testNum == '1') DEBUG.println("Ball test, turn the ball on and turn it around the robot");
else if (testNum == '2') DEBUG.println("IMU test, keep the robot still and on a flat surface");
else if (testNum == '3') DEBUG.println("Motor test, turn on SW_MOTORI and keep the robot at eye level");
else if (testNum == '4') DEBUG.println("Recenter, turn both SWS on and tilt the robot");
else if (testNum == '5') DEBUG.println("BT test, pair to BT");
else if (testNum == '6') DEBUG.println("Camera Test");
else if (testNum == '7') DEBUG.println("Line Sensors camera test, turn on SW_ELETT");
else if (testNum == '8') DEBUG.println("Line Sensors test, turn on SW_ELETT");
else {
DEBUG.println("UNKNOWN COMMAND");
flagtest = false;
}
} while (DEBUG.available() > 0);
do{
switch(testNum){
case '0':
DEBUG.println("Exiting test menu, play good ;)");
flagtest = false;
return;
break;
case '1':
ball->test();
delay(TEST_DELAY);
break;
case '2':
compass->test();
delay(TEST_DELAY);
break;
case '3':
drive->m1->test();
drive->m2->test();
drive->m3->test();
drive->m4->test();
break;
case '4':
drive->drive(0,0,0);
break;
case '5':
bt->test();
break;
case '6':
camera->test();
break;
case '7':
case '8':
DEBUG.println("To do Line Sensors test, decide the role first");
DEBUG.println("1)Keeper");
DEBUG.println("2)Goalie");
currentRole = DEBUG.read();
switch(currentRole){
case '1':
((LineSysCamera*)goalie->ls)->test();
break;
case '2':
((LineSysCamera*)keeper->ls)->test();
break;
default:
DEBUG.println("INVALID ROLE");
break;
}
break;
}
} while (DEBUG.available() == 0);
}