amiro-os / modules / DiWheelDrive_1-2 / test / A3906 / module_test_A3906.c @ 4c72a54c
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/*
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AMiRo-OS is an operating system designed for the Autonomous Mini Robot (AMiRo) platform.
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Copyright (C) 2016..2019 Thomas Schöpping et al.
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include <amiroos.h> |
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#if (AMIROOS_CFG_TESTS_ENABLE == true) || defined(__DOXYGEN__) |
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#include <module_test_A3906.h> |
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#include <aos_test_A3906.h> |
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/******************************************************************************/
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/* LOCAL DEFINITIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED VARIABLES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL TYPES */
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/******************************************************************************/
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/******************************************************************************/
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/* LOCAL VARIABLES */
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/******************************************************************************/
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static aos_test_a3906data_t _data = {
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/* driver */ &moduleLldMotors,
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/* PWM information */ {
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/* driver */ &MODULE_HAL_PWM_DRIVE,
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/* channels */ {
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/* left wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_FORWARD,
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/* left wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_LEFT_BACKWARD,
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/* right wheel forward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_FORWARD,
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/* right wheel backward */ MODULE_HAL_PWM_DRIVE_CHANNEL_RIGHT_BACKWARD,
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}, |
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}, |
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/* QEI information */ {
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/* left wheel */ &MODULE_HAL_QEI_LEFT_WHEEL,
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/* right wheel */ &MODULE_HAL_QEI_RIGHT_WHEEL,
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/* increment per revolution */ MODULE_HAL_QEI_INCREMENTS_PER_REVOLUTION,
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}, |
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/* Wheel diameter */ {
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/* left wheel */ 0.05571f, |
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/* right wheel */ 0.05571f, |
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}, |
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/* timeout */ 10 * MICROSECONDS_PER_SECOND, |
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}; |
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static AOS_TEST(_test, "A3906", "motor driver", moduleTestA3906ShellCb, aosTestA3906Func, &_data); |
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/******************************************************************************/
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/* LOCAL FUNCTIONS */
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/******************************************************************************/
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/******************************************************************************/
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/* EXPORTED FUNCTIONS */
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/******************************************************************************/
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int moduleTestA3906ShellCb(BaseSequentialStream* stream, int argc, char* argv[], aos_testresult_t* result) |
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{
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(void)argc;
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(void)argv;
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if (result != NULL) { |
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*result = aosTestRun(stream, &_test, NULL);
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} else {
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aosTestRun(stream, &_test, NULL);
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} |
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return AOS_OK;
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} |
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#endif /* (AMIROOS_CFG_TESTS_ENABLE == true) */ |