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test menu: complete refactor 

and add camera tilt test
pull/1/head
EmaMaker 2021-04-14 14:54:49 +02:00
parent 325656d810
commit db26808344
2 changed files with 102 additions and 98 deletions
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2
include/test_menu.h
View File

@ -5,6 +5,6 @@
class TestMenu{
public:
void testMenu();
char testNum, currentRole;
char testNum;
bool flagtest;
};

198
src/test_menu.cpp
View File

@ -13,110 +13,114 @@
#include "behaviour_control/data_source.h"
#include "behaviour_control/status_vector.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();
void TestMenu::testMenu()
{
if (!(DEBUG.available() || flagtest))
return;
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");
DEBUG.println("u)Read Serial messages from 32u4");
DEBUG.println("s)Send test to 32u4 status LEDs");
do{
testNum = DEBUG.read();
DEBUG.println();
DEBUG.println("Test:");
flagtest = true;
if (DEBUG.available())
{
testNum = (char)DEBUG.read();
DEBUG.print("You chose 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 if (testNum == 'u') DEBUG.println("Reading from 32u4");
else if (testNum == 's') DEBUG.println("Testing LEDs. Sending bytes to 32u4");
else {
DEBUG.println("UNKNOWN COMMAND");
flagtest = false;
}
} while (DEBUG.available() > 0);
do{
switch(testNum){
case '0':
DEBUG.println("Exiting test menu, may the odds be in your favor c:");
flagtest = false;
DEBUG.flush();
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':
updateStatusVector();
camera->test();
delay(100);
break;
case '7':
CURRENT_DATA_READ.game->ls->test();
delay(200);
break;
case '8':
break;
case 'u':
while(Serial2.available()) DEBUG.print((char)Serial2.read());
break;
case 's':
DEBUG.println("Remember LED1 is not used by teensy");
DEBUG.println("LED2");
Serial2.write(0b00000001);
delay(1500);
DEBUG.println("LED3");
Serial2.write(0b00000010);
delay(1500);
if (flagtest)
{
drive->resetDrive();
DEBUG.println("LED4");
Serial2.write(0b00000100);
delay(1500);
Serial2.write(0);
delay(1500);
switch (testNum)
{
case '0':
DEBUG.println("Exiting test menu, may the odds be in your favor c:");
flagtest = false;
DEBUG.flush();
return;
break;
default:
case '1':
DEBUG.println("Ball Test");
ball->test();
delay(TEST_DELAY);
break;
case '2':
DEBUG.println("IMU Test");
compass->test();
delay(TEST_DELAY);
break;
case '3':
DEBUG.println("Motors Test. Lift up from ground and turn on S_MOT");
drive->m1->test();
drive->m2->test();
drive->m3->test();
drive->m4->test();
break;
case '4':
DEBUG.println("Pid recenter test");
drive->drive(0, 0, 0);
break;
case '5':
DEBUG.println("BT Test");
bt->test();
break;
case '6':
DEBUG.println("Camera Test");
camera->test();
delay(100);
break;
case '7':
DEBUG.println("LineSensors Test");
CURRENT_DATA_READ.game->ls->test();
delay(200);
break;
case '8':
DEBUG.println("Camera tilt Test");
drive->resetDrive();
drive->prepareDrive(0, 0, (CURRENT_DATA_READ.angleAtkFix + 360) % 360);
break;
case 'u':
DEBUG.println("32u4 receive Test");
while (Serial2.available())
DEBUG.print((char)Serial2.read());
break;
case 's':
DEBUG.println("32u4 send Test");
DEBUG.println("Remember LED1 is not used by teensy");
DEBUG.println("LED2");
Serial2.write(0b00000001);
delay(1500);
DEBUG.println("LED3");
Serial2.write(0b00000010);
delay(1500);
DEBUG.println("LED4");
Serial2.write(0b00000100);
delay(1500);
Serial2.write(0);
delay(1500);
break;
case 'h':
default:
DEBUG.println("Unknown command, here's a lil help for you :)");
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)Camera tilt test");
DEBUG.println("u)Read Serial messages from 32u4");
DEBUG.println("s)Send test to 32u4 status LEDs");
flagtest = false;
}
} while (DEBUG.available() == 0);
}
}