koala_test.c File Reference

Test for the Koala robot of the koala library. More...

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Defines
#define	BIG_SPEED_FACTOR   25
#define	SPEED_FACTOR   1
#define	MAX_SPEED   500
#define	MIN_SPEED   1
#define	DEFAULT_SPEED   200
#define	ROTATE_HIGH_SPEED_FACT   0.5
#define	ROTATE_LOW_SPEED_FACT   0.7
#define	ROTATE_DIG_SPEED_FACT   0.5
#define	ROT_SPEED_HIGH_TRESH   300
#define	STOP_TIME   100000
#define	SIGN(x)   ((x)>0?1:((x)<0?-1:0))
#define	BR_IRGAIN   1
#define	fwSpeed   200
#define	BMIN_SPEED   10
#define	RotSpeedL   50
#define	RotSpeedR   -50
#define	MAX_DIST   60
#define	MIN_DIST   25
#define	US_BAR_LEN   23
#define	ACGY_BAR_LEN   30
#define	MAX_US_DISTANCE   250.0
#define	MAX_G   2
#define	US_VAL(val)   ((val)==KOALA_US_DISABLED_SENSOR ? "Not activated" : ((val)==KOALA_US_NO_OBJECT_IN_RANGE ? "No object in range" : ((val)==KOALA_US_OBJECT_NEAR ? "Object at less than 25cm" : "Object in range 25..250cm")))
Functions
static void	ctrlc_handler (int sig)
char *	kitoa (int val, int base)
long long	timeval_diff (struct timeval *difference, struct timeval *end_time, struct timeval *start_time)
int	drive_robot ()
int	braitenbergAvoidance ()
int	test_sound ()
int	main (int argc, char *argv[])
Variables
static int	quitReq = 0

---

Detailed Description

Test for the Koala robot of the koala library.

Definition in file koala_test.c.

---

Define Documentation

#define ACGY_BAR_LEN   30

Referenced by main().

#define BIG_SPEED_FACTOR   25

Definition at line 128 of file koala_test.c.

Referenced by drive_robot().

#define BMIN_SPEED   10

Definition at line 386 of file koala_test.c.

Referenced by braitenbergAvoidance().

#define BR_IRGAIN   1

Braintenberg demo program

Parameters:

none.

Definition at line 384 of file koala_test.c.

Referenced by braitenbergAvoidance().

#define DEFAULT_SPEED   200

Definition at line 132 of file koala_test.c.

Referenced by drive_robot().

#define fwSpeed   200

Definition at line 385 of file koala_test.c.

Referenced by braitenbergAvoidance().

#define MAX_DIST   60

Definition at line 391 of file koala_test.c.

Referenced by braitenbergAvoidance().

#define MAX_G   2

Referenced by main().

#define MAX_SPEED   500

Definition at line 130 of file koala_test.c.

Referenced by drive_robot().

#define MAX_US_DISTANCE   250.0

Referenced by main().

#define MIN_DIST   25

Definition at line 392 of file koala_test.c.

Referenced by braitenbergAvoidance().

#define MIN_SPEED   1

Definition at line 131 of file koala_test.c.

Referenced by drive_robot().

#define ROT_SPEED_HIGH_TRESH   300

Definition at line 137 of file koala_test.c.

Referenced by drive_robot().

#define ROTATE_DIG_SPEED_FACT   0.5

Definition at line 136 of file koala_test.c.

Referenced by drive_robot().

#define ROTATE_HIGH_SPEED_FACT   0.5

Definition at line 134 of file koala_test.c.

Referenced by drive_robot().

#define ROTATE_LOW_SPEED_FACT   0.7

Definition at line 135 of file koala_test.c.

Referenced by drive_robot().

#define RotSpeedL   50

Definition at line 388 of file koala_test.c.

#define RotSpeedR   -50

Definition at line 389 of file koala_test.c.

#define SIGN

(

x

)

((x)>0?1:((x)<0?-1:0))

Definition at line 140 of file koala_test.c.

Referenced by drive_robot().

#define SPEED_FACTOR   1

Definition at line 129 of file koala_test.c.

Referenced by drive_robot().

#define STOP_TIME   100000

Definition at line 138 of file koala_test.c.

#define US_BAR_LEN   23

Referenced by main().

#define US_VAL

(

val

)

((val)==KOALA_US_DISABLED_SENSOR ? "Not activated" : ((val)==KOALA_US_NO_OBJECT_IN_RANGE ? "No object in range" : ((val)==KOALA_US_OBJECT_NEAR ? "Object at less than 25cm" : "Object in range 25..250cm")))

Referenced by main().

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Function Documentation

int braitenbergAvoidance

(

)

Definition at line 394 of file koala_test.c.

References BMIN_SPEED, BR_IRGAIN, fwSpeed, KOALA_AUTOM_NONE, KOALA_AUTOM_US_SENSOR_BIT, koala_configure_auto_monitoring_mode(), koala_configure_us_io(), koala_get_battery_data(), koala_get_from_auto_mode(), koala_kbhit(), koala_read_motor_position(), koala_set_motor_speed(), koala_set_motor_speed_accel(), KOALA_US_ALL, KOALA_US_SENSORS_NUMBER, MAX_DIST, MIN_DIST, auto_struct_s::mode, timeval_diff(), and auto_struct_s::us.

Referenced by main().

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static void ctrlc_handler

(

int

sig

)

[static]

Make sure the program terminate properly on a ctrl-c

Definition at line 52 of file koala_test.c.

References koala_change_term_mode(), koala_set_motor_speed_open_loop(), and quitReq.

Referenced by main().

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int drive_robot

(

)

Drive the robot with the keyboard

Parameters:

none

Returns:

an error code:

• <0 standard error code. See errno.h
• >=0 on success

Definition at line 152 of file koala_test.c.

References BIG_SPEED_FACTOR, DEFAULT_SPEED, koala_change_term_mode(), koala_clrscr(), koala_kbhit(), koala_read_motor_speed(), koala_set_motor_speed(), koala_set_motor_speed_accel(), KOALA_SPEED_TO_MM_S, MAX_SPEED, MIN_SPEED, ROT_SPEED_HIGH_TRESH, ROTATE_DIG_SPEED_FACT, ROTATE_HIGH_SPEED_FACT, ROTATE_LOW_SPEED_FACT, SIGN, and SPEED_FACTOR.

Referenced by main().

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char* kitoa	(	int	val,
		int	base
	)

convert integer to string in specific base

Parameters:

val	value to be converted
base	base of the value

Returns:

converted number in zero string

Definition at line 71 of file koala_test.c.

Referenced by main().

int main	(	int	argc,
		char *	argv[]
	)

Main program

Parameters:

argc	number of arguments
argv	argument array

Returns:

0 if OK, <0 if error

Definition at line 553 of file koala_test.c.

References auto_struct_s::accel, ACGY_BAR_LEN, gps_data_s::altitude, braitenbergAvoidance(), ctrlc_handler(), gps_data_s::date_time, drive_robot(), auto_struct_s::gps, auto_struct_s::gps_raw, auto_struct_s::gyro, kitoa(), KOALA_ACCEL_G, KOALA_ACCEL_VALUES_NUMBER, KOALA_AD_TO_V, koala_clrscr(), koala_configure_auto_monitoring_mode(), koala_configure_pid(), koala_configure_us_io(), koala_get_battery_data(), koala_get_firmware_version_revision(), koala_get_from_auto_mode(), koala_get_motor_status(), koala_getcommand_line_nowait(), koala_gps_data(), KOALA_GYRO_DEG_S, KOALA_GYRO_VALUES_NUMBER, koala_init(), koala_kbhit(), KOALA_MAX_I2C_DATA, KOALA_MOTOR_ACC_DIV, KOALA_MOTOR_ACC_INC, KOALA_MOTOR_CST_SPEED, KOALA_MOTOR_D, KOALA_MOTOR_I, KOALA_MOTOR_MAX_CURRENT, KOALA_MOTOR_MIN_SPACC, KOALA_MOTOR_P, KOALA_MOTOR_POS_MARGIN, KOALA_PULSE_TO_MM, koala_read_accelerometer(), koala_read_ad(), koala_read_gyroscope(), koala_read_i2c(), koala_read_io(), koala_read_motor_current(), koala_read_motor_position(), koala_read_motor_speed(), koala_read_us_sensors(), koala_reset_microcontroller(), koala_scan_i2c(), koala_send_gps_cmd(), koala_set_motor_speed(), koala_set_motor_speed_accel(), koala_set_motor_speed_open_loop(), koala_set_motor_target_position(), koala_set_position_encoders(), koala_set_pwr_io_output(), koala_set_speed_profile(), KOALA_SPEED_TO_MM_S, KOALA_TIME_BTWN, KOALA_US_DISABLED_SENSOR, KOALA_US_NO_OBJECT_IN_RANGE, KOALA_US_SENSOR_NAMES, KOALA_US_SENSORS_NUMBER, koala_write_i2c(), gps_data_s::lat_car, gps_data_s::lat_val, auto_struct_s::left_current, auto_struct_s::left_position, auto_struct_s::left_speed, gps_data_s::long_car, gps_data_s::long_val, MAX_G, MAX_US_DISTANCE, auto_struct_s::mode, quitReq, auto_struct_s::right_current, auto_struct_s::right_position, auto_struct_s::right_speed, gps_data_s::sat_nb, gps_data_s::speed, test_sound(), auto_struct_s::us, US_BAR_LEN, US_VAL, and gps_data_s::valid_sat.

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int test_sound

(

)

test sound

Returns:

0 if OK, <0 if error

Definition at line 539 of file koala_test.c.

Referenced by main().

long long timeval_diff	(	struct timeval *	difference,
		struct timeval *	end_time,
		struct timeval *	start_time
	)

Compute time difference

Parameters:

difference	difference between the two times, in structure timeval type
end_time	end time
start_time	start time

Returns:

difference between the two times in [us]

Definition at line 96 of file koala_test.c.

Referenced by braitenbergAvoidance().

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Variable Documentation

int quitReq = 0 [static]

Definition at line 46 of file koala_test.c.

Referenced by ctrlc_handler(), and main().