3 volatile int abd_record = 0;
5 #ifdef interactive_development_mode 6 volatile int abd_rv[2600];
7 #endif // interactive_development_mode 9 #ifdef interactive_development_mode 14 xbee = fdserial_open(11, 10, 0, 9600);
18 if(!intTabSetup) interpolation_table_setup();
20 dprint(xbee,
"Left Servo\n");
21 dprint(xbee,
"elCntL = %d, cntrLidx = %d\n\n", elCntL, cntrLidx);
22 for(
int r = 0; r < elCntL; r++)
24 dprint(xbee,
"r = %d, spdrL = %d, spdmL = %d, \n", r, spdrL[r], spdmL[r]);
27 dprint(xbee,
"Right Servo\n");
28 dprint(xbee,
"\n\nelCntR = %d, cntrRidx = %d\n\n", elCntR, cntrRidx);
29 for(
int r = 0; r < elCntR; r++)
31 dprint(xbee,
"r = %d, spdrR = %d, spdmR = %d, \n", r, spdrR[r], spdmR[r]);
36 #endif // interactive_development_mode 39 #ifdef interactive_development_mode 44 xbee = fdserial_open(11, 10, 0, 9600);
48 if(!intTabSetup) interpolation_table_setup();
50 dprint(xbee,
"trimFL %d, trimFR %d, trimBL %d, trimBR %d, trimticksF %d, trimticksB %d\n",
51 trimFL, trimFR, trimBL, trimBR, trimticksF, trimticksB);
53 #endif // interactive_development_mode 56 #ifdef interactive_development_mode 57 void drive_displayControlSystem(
int start,
int end)
61 xbee = fdserial_open(11, 10, 0, 9600);
65 dprint(xbee,
"\neaL = %d, eaR = %d \n\n", eaL, eaR);
66 dprint(xbee,
"ridx = %d \n\n", ridx);
67 for(
int i = start*11; i < (end-1) * 11; i+=11)
71 dprint(xbee,
"i = %d, v = %d, dlc = %d, ticksL = %d, edL = %d, pL = %d, iL = %d, drc = %d, ticksR = %d, edr = %d, pR = %d, iR = %d\n",
72 i, rv[i], rv[i+1], rv[i+2], rv[i+3], rv[i+4], rv[i+5], rv[i+6], rv[i+7], rv[i+8], rv[i+9], rv[i+10]);
74 dprint(xbee,
"\neaL = %d, eaR = %d \n\n", eaL, eaR);
76 #endif // interactive_development_mode 79 #ifndef interactive_development_mode 84 #ifndef interactive_development_mode 85 void drive_record(
int startStop)
87 abd_record = startStop;
This library takes care of encoder monitoring and servo signalling, and provides a simple set of func...
void drive_displayInterpolation(void)
Displays the interopolation table stored in EEPROM by the calibration step. For more info...
Structure that contains data used by simple text device libraries.
void drive_trimDisplay(void)
Display the trim settings.