123 lines
4.3 KiB
C++
123 lines
4.3 KiB
C++
#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 "systems/lines/linesys_camera.h"
|
|
#include "systems/lines/linesys_2019.h"
|
|
#include "sensors/sensors.h"
|
|
#include "motors_movement/motor.h"
|
|
#include "motors_movement/drivecontroller.h"
|
|
#include "systems/position/positionsys_camera.h"
|
|
#include "strategy_roles/game.h"
|
|
#include "strategy_roles/games.h"
|
|
#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();
|
|
|
|
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:");
|
|
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':
|
|
break;
|
|
case '8':
|
|
CURRENT_DATA_READ.game->ls->test();
|
|
delay(200);
|
|
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);
|
|
|
|
|
|
DEBUG.println("LED4");
|
|
Serial2.write(0b00000100);
|
|
|
|
delay(1500);
|
|
Serial2.write(0);
|
|
delay(1500);
|
|
break;
|
|
default:
|
|
break;
|
|
}
|
|
} while (DEBUG.available() == 0);
|
|
} |