static inline void init_tank_arm_sensors() {
HallFlags hall_flags = HALL_INVERTED | HALL_PULLUP;
EncoderFlags encoder_flags = ENCODER_PULLUPS;
tank_socket.front = newHallSensor(1, 4, pinB4, hall_flags);
tank_socket.back = newHallSensor(1, 3, pinB3, hall_flags);
tank_socket.encoder = newEncoder(1, 5, 6, pinB5, pinB6, encoder_flags);
tank_joint.front = newHallSensor(0, 4, pinA4, hall_flags);
tank_joint.back = newHallSensor(0, 3, pinA3, hall_flags);
tank_joint.encoder = newEncoder(0, 5, 6, pinA5, pinA6, encoder_flags);
}
void setUp() {
initPinChangeInterrupts();
init_fake_port();
TEST_ASSERT_EQUAL(0, countEncoders());
encoder = newEncoder(0, 0, 1, testPin1, testPin2, 0);
TEST_ASSERT(IsValid(encoder));
TEST_ASSERT(encoderValid(encoder));
TEST_ASSERT_EQUAL(1, countEncoders());
expectClean = TRUE;
}
/*
* Call this from the default Initialize function.
* After, be sure to reinitialize each motor you will be using on your robot.
*/
void riceBotInitialize() {
Motor *MOTDTFrontRight = newMotor();
Motor *MOTDTFrontMidRight = newMotor();
Motor *MOTDTMidRight = newMotor();
Motor *MOTDTBackRight = newMotor();
Motor *MOTDTFrontLeft = newMotor();
Motor *MOTDTFrontMidLeft = newMotor();
Motor *MOTDTMidLeft = newMotor();
Motor *MOTDTBackLeft = newMotor();
Motor *MOTARMFront = newMotor();
Motor *MOTARMRight = newMotor();
Motor *MOTARMLeft = newMotor();
Motor *MOTARMTopRight = newMotor();
Motor *MOTARMBottomRight = newMotor();
Motor *MOTARMTopLeft = newMotor();
Motor *MOTARMBottomLeft = newMotor();
Motor *MOTCOL = newMotor();
printf("%d\n\r", imeInitializeAll());
imeReset(IMEARMLEFT);
imeReset(IMEARMRIGHT);
encDTLeft = encoderInit(0, 0, false);
encDTRight = encoderInit(0, 0, false);
encARMLeft = encoderInit(0, 0, false);
encARMRight = encoderInit(0, 0, false);
Ricencoder *ENCDT = newEncoder();
Ricencoder *ENCARM = newEncoder();
// gyro = gyroInit(0, 196);
// gyroVal = gyroGet(gyro);
analogCalibrate(POTARMLeft);
analogCalibrate(POTARMRight);
analogCalibrate(POTARMFront);
Pid *PidARMLeft = newPid();
Pid *PidARMRight = newPid();
Pid *PidARMFront = newPid();
}
void test_two_encoders() {
Encoder encoder2 = newEncoder(0, 2, 3, testPin3, testPin4, 0);
TEST_ASSERT(encoderValid(encoder2));
TEST_ASSERT_EQUAL(0, encoderState(encoder));
TEST_ASSERT_EQUAL(0, encoderState(encoder2));
trigger(TRUE);
trigger(TRUE);
TEST_ASSERT_EQUAL(2*4, encoderState(encoder));
TEST_ASSERT_EQUAL(0, encoderState(encoder2));
invokePinChangeInterrupt(0, _BV(2));
invokePinChangeInterrupt(0, _BV(2) | _BV(3));
invokePinChangeInterrupt(0, _BV(3));
invokePinChangeInterrupt(0, 0);
TEST_ASSERT_EQUAL(2*4, encoderState(encoder));
TEST_ASSERT_EQUAL(1*4, encoderState(encoder2));
encoder2 = destroyEncoder(encoder2);
TEST_ASSERT_FALSE(IsValid(encoder2));
}
