amiro-os / modules / DiWheelDrive_1-2 / test / A3906 / module_test_A3906.c @ 1a8fb642
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1 | e545e620 | Thomas Schöpping | /*
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2 | AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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3 | 84f0ce9e | Thomas Schöpping | Copyright (C) 2016..2019 Thomas Schöpping et al.
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4 | e545e620 | Thomas Schöpping | |
5 | This program is free software: you can redistribute it and/or modify
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6 | it under the terms of the GNU General Public License as published by
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7 | the Free Software Foundation, either version 3 of the License, or
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8 | (at your option) any later version.
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9 | |||
10 | This program is distributed in the hope that it will be useful,
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11 | but WITHOUT ANY WARRANTY; without even the implied warranty of
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12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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13 | GNU General Public License for more details.
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14 | |||
15 | You should have received a copy of the GNU General Public License
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16 | along with this program. If not, see <http://www.gnu.org/licenses/>.
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17 | */
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18 | |||
19 | ddf34c3d | Thomas Schöpping | #include <amiroos.h> |
20 | e545e620 | Thomas Schöpping | |
21 | 4c72a54c | Thomas Schöpping | #if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
22 | |||
23 | #include <module_test_A3906.h> |
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24 | #include <aos_test_A3906.h> |
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25 | ddf34c3d | Thomas Schöpping | |
26 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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27 | /* LOCAL DEFINITIONS */
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28 | /******************************************************************************/
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29 | |||
30 | /******************************************************************************/
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31 | /* EXPORTED VARIABLES */
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32 | /******************************************************************************/
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33 | |||
34 | /******************************************************************************/
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35 | /* LOCAL TYPES */
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36 | /******************************************************************************/
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37 | |||
38 | /******************************************************************************/
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39 | /* LOCAL VARIABLES */
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40 | /******************************************************************************/
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41 | |||
42 | 4c72a54c | Thomas Schöpping | static aos_test_a3906data_t _data = {
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43 | /* driver */ &moduleLldMotors,
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44 | /* PWM information */ {
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45 | /* driver */ &MODULE_HAL_PWM_DRIVE,
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46 | /* channels */ {
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47 | /* left wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD,
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48 | /* left wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD,
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49 | /* right wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD,
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50 | /* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD,
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51 | }, |
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52 | }, |
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53 | /* QEI information */ {
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54 | /* left wheel */ &MODULE_HAL_QEI_LEFT_WHEEL,
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55 | /* right wheel */ &MODULE_HAL_QEI_RIGHT_WHEEL,
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56 | /* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION,
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57 | }, |
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58 | /* Wheel diameter */ {
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59 | /* left wheel */ 0.05571f, |
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60 | /* right wheel */ 0.05571f, |
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61 | }, |
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62 | /* timeout */ 10 * MICROSECONDS_PER_SECOND, |
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63 | }; |
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64 | |||
65 | static AOS_TEST(_test, "A3906", "motor driver", moduleTestA3906ShellCb, aosTestA3906Func, &_data); |
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66 | |||
67 | f3ac1c96 | Thomas Schöpping | /******************************************************************************/
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68 | /* LOCAL FUNCTIONS */
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69 | /******************************************************************************/
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70 | |||
71 | /******************************************************************************/
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72 | /* EXPORTED FUNCTIONS */
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73 | /******************************************************************************/
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74 | e545e620 | Thomas Schöpping | |
75 | 4c72a54c | Thomas Schöpping | int moduleTestA3906ShellCb(BaseSequentialStream* stream, int argc, char* argv[], aos_testresult_t* result) |
76 | e545e620 | Thomas Schöpping | { |
77 | 4c72a54c | Thomas Schöpping | (void)argc;
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78 | (void)argv;
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79 | e545e620 | Thomas Schöpping | |
80 | 4c72a54c | Thomas Schöpping | if (result != NULL) { |
81 | *result = aosTestRun(stream, &_test, NULL);
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82 | e545e620 | Thomas Schöpping | } else {
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83 | 4c72a54c | Thomas Schöpping | aosTestRun(stream, &_test, NULL);
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84 | e545e620 | Thomas Schöpping | } |
85 | |||
86 | 4c72a54c | Thomas Schöpping | return AOS_OK;
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87 | e545e620 | Thomas Schöpping | } |
88 | |||
89 | 4c72a54c | Thomas Schöpping | #endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |