Revision e5606def devices/DiWheelDrive/main.cpp
devices/DiWheelDrive/main.cpp | ||
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914 | 914 |
// Print out the error info collected. Clear buffer after calling |
915 | 915 |
chprintf(chp, "Error Info\n"); |
916 | 916 |
chprintf(chp, "\n"); |
917 |
// uint8_t IDLE = 0;
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918 |
// uint8_t FOLLOW_LINE = 1;
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// uint8_t DETECT_STATION = 2;
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// uint8_t REVERSE = 3;
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// uint8_t PUSH_BACK = 4;
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922 |
// uint8_t CHECK_POSITIONING = 5;
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// uint8_t CHECK_VOLTAGE = 6;
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// uint8_t CHARGING = 7;
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// uint8_t RELEASE = 8;
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926 |
// uint8_t RELEASE_TO_CORRECT = 9;
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// uint8_t CORRECT_POSITIONING = 10;
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928 |
// uint8_t TURN = 12;
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929 |
// uint8_t INACTIVE = 13;
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// uint8_t CALIBRATION = 14;
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// uint8_t CALIBRATION_CHECK = 15;
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// uint8_t DEVIATION_CORRECTION = 16;
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// uint8_t DOCKING_ERROR = 16+1;
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// uint8_t REVERSE_TIMEOUT_ERROR = 16+2;
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935 |
// uint8_t CALIBRATION_ERROR = 16+3;
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// uint8_t WHITE_DETECTION_ERROR = 16+4;
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// uint8_t PROXY_DETECTION_ERROR = 16+5;
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938 |
// uint8_t NO_CHARGING_POWER_ERROR = 16+6;
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// uint8_t UNKNOWN_STATE_ERROR = 16+7;
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940 |
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941 |
// chprintf(chp, "IDLE: %d\n", global.stateTracker[IDLE]);
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// chprintf(chp, "FOLLOW_LINE: %d\n", global.stateTracker[FOLLOW_LINE]);
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// chprintf(chp, "DETECT_STATION: %d\n", global.stateTracker[DETECT_STATION]);
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944 |
// chprintf(chp, "REVERSE: %d\n", global.stateTracker[REVERSE]);
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// chprintf(chp, "PUSH_BACK: %d\n", global.stateTracker[PUSH_BACK]);
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946 |
// chprintf(chp, "CHECK_POSITIONING: %d\n", global.stateTracker[CHECK_POSITIONING]);
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947 |
// chprintf(chp, "CHECK_VOLTAGE: %d\n", global.stateTracker[CHECK_VOLTAGE]);
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948 |
// chprintf(chp, "CHARGING: %d\n", global.stateTracker[CHARGING]);
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// chprintf(chp, "RELEASE: %d\n", global.stateTracker[RELEASE]);
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// chprintf(chp, "RELEASE_TO_CORRECT: %d\n", global.stateTracker[RELEASE_TO_CORRECT]);
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// chprintf(chp, "CORRECT_POSITIONING: %d\n", global.stateTracker[CORRECT_POSITIONING]);
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// chprintf(chp, "TURN: %d\n", global.stateTracker[TURN]);
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// chprintf(chp, "INACTIVE: %d\n", global.stateTracker[INACTIVE]);
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// chprintf(chp, "CALIBRATION: %d\n", global.stateTracker[CALIBRATION]);
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// chprintf(chp, "CALIBRATION_CHECK: %d\n", global.stateTracker[CALIBRATION_CHECK]);
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// chprintf(chp, "DEVIATION_CORRECTION: %d\n", global.stateTracker[DEVIATION_CORRECTION]);
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// chprintf(chp, "DOCKING_ERROR: %d\n", global.stateTracker[DOCKING_ERROR]);
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// chprintf(chp, "REVERSE_TIMEOUT_ERROR: %d\n", global.stateTracker[REVERSE_TIMEOUT_ERROR]);
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// chprintf(chp, "CALIBRATION_ERROR: %d\n", global.stateTracker[CALIBRATION_ERROR]);
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// chprintf(chp, "WHITE_DETECTION_ERROR: %d\n", global.stateTracker[WHITE_DETECTION_ERROR]);
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// chprintf(chp, "PROXY_DETECTION_ERROR: %d\n", global.stateTracker[PROXY_DETECTION_ERROR]);
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// chprintf(chp, "NO_CHARGING_POWER_ERROR: %d\n", global.stateTracker[NO_CHARGING_POWER_ERROR]);
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// chprintf(chp, "UNKNOWN_STATE_ERROR: %d\n", global.stateTracker[UNKNOWN_STATE_ERROR]);
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// for (int i=0; i<24;i++){
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// global.stateTracker[i] = 0;
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// }
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917 |
uint8_t IDLE = 0; |
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918 |
uint8_t FOLLOW_LINE = 1; |
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919 |
uint8_t DETECT_STATION = 2; |
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920 |
uint8_t REVERSE = 3; |
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uint8_t PUSH_BACK = 4; |
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922 |
uint8_t CHECK_POSITIONING = 5; |
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923 |
uint8_t CHECK_VOLTAGE = 6; |
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uint8_t CHARGING = 7; |
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uint8_t RELEASE = 8; |
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926 |
uint8_t RELEASE_TO_CORRECT = 9; |
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uint8_t CORRECT_POSITIONING = 10; |
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uint8_t TURN = 12; |
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uint8_t INACTIVE = 13; |
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uint8_t CALIBRATION = 14; |
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931 |
uint8_t CALIBRATION_CHECK = 15; |
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uint8_t DEVIATION_CORRECTION = 16; |
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uint8_t DOCKING_ERROR = 16+1; |
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934 |
uint8_t REVERSE_TIMEOUT_ERROR = 16+2; |
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uint8_t CALIBRATION_ERROR = 16+3; |
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936 |
uint8_t WHITE_DETECTION_ERROR = 16+4; |
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uint8_t PROXY_DETECTION_ERROR = 16+5; |
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uint8_t NO_CHARGING_POWER_ERROR = 16+6; |
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uint8_t UNKNOWN_STATE_ERROR = 16+7; |
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940 |
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chprintf(chp, "IDLE: %d\n", global.stateTracker[IDLE]); |
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chprintf(chp, "FOLLOW_LINE: %d\n", global.stateTracker[FOLLOW_LINE]); |
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chprintf(chp, "DETECT_STATION: %d\n", global.stateTracker[DETECT_STATION]); |
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chprintf(chp, "REVERSE: %d\n", global.stateTracker[REVERSE]); |
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chprintf(chp, "PUSH_BACK: %d\n", global.stateTracker[PUSH_BACK]); |
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chprintf(chp, "CHECK_POSITIONING: %d\n", global.stateTracker[CHECK_POSITIONING]); |
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chprintf(chp, "CHECK_VOLTAGE: %d\n", global.stateTracker[CHECK_VOLTAGE]); |
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chprintf(chp, "CHARGING: %d\n", global.stateTracker[CHARGING]); |
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chprintf(chp, "RELEASE: %d\n", global.stateTracker[RELEASE]); |
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chprintf(chp, "RELEASE_TO_CORRECT: %d\n", global.stateTracker[RELEASE_TO_CORRECT]); |
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chprintf(chp, "CORRECT_POSITIONING: %d\n", global.stateTracker[CORRECT_POSITIONING]); |
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chprintf(chp, "TURN: %d\n", global.stateTracker[TURN]); |
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chprintf(chp, "INACTIVE: %d\n", global.stateTracker[INACTIVE]); |
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chprintf(chp, "CALIBRATION: %d\n", global.stateTracker[CALIBRATION]); |
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chprintf(chp, "CALIBRATION_CHECK: %d\n", global.stateTracker[CALIBRATION_CHECK]); |
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chprintf(chp, "DEVIATION_CORRECTION: %d\n", global.stateTracker[DEVIATION_CORRECTION]); |
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chprintf(chp, "DOCKING_ERROR: %d\n", global.stateTracker[DOCKING_ERROR]); |
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chprintf(chp, "REVERSE_TIMEOUT_ERROR: %d\n", global.stateTracker[REVERSE_TIMEOUT_ERROR]); |
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chprintf(chp, "CALIBRATION_ERROR: %d\n", global.stateTracker[CALIBRATION_ERROR]); |
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chprintf(chp, "WHITE_DETECTION_ERROR: %d\n", global.stateTracker[WHITE_DETECTION_ERROR]); |
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chprintf(chp, "PROXY_DETECTION_ERROR: %d\n", global.stateTracker[PROXY_DETECTION_ERROR]); |
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chprintf(chp, "NO_CHARGING_POWER_ERROR: %d\n", global.stateTracker[NO_CHARGING_POWER_ERROR]); |
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chprintf(chp, "UNKNOWN_STATE_ERROR: %d\n", global.stateTracker[UNKNOWN_STATE_ERROR]); |
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964 |
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965 |
for (int i=0; i<24;i++){ |
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966 |
global.stateTracker[i] = 0; |
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967 |
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968 |
} |
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969 | 969 |
} |
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