void tests_all(void) {
test_silent = TRUE;
tests_util();
tests_display();
tests_sound();
tests_motor();
tests_tachy();
tests_sensors();
tests_sysinfo();
tests_radar();
tests_legocolor();
tests_fs();
tests_ht_compass();
tests_ht_accel();
tests_ht_irlink();
tests_digitemp();
test_silent = FALSE;
goodbye();
}
void main(void) {
nx_systick_install_scheduler(security_hook);
//tests_all();
// tests_fantom();
//tests_gdbdebug();
//tests_usb();
//tests_bt();
//tests_usb_hardcore();
tests_legocolor();
//tests_radar();
//tests_util();
//tests_defrag();
//tests_ht_compass();
//tests_ht_accel();
//ht_color_calibrate();
//tests_ht_color();
//tests_ht_gyro();
//tests_ht_irlink();
//tests_digitemp();
//tests_sysinfo();
}
/**
* @return 0 if success ; 1 if unknown command ; 2 if halt
*/
static int tests_command(char *buffer) {
int i;
S32 t;
/* Start interpreting */
i = 0;
if (streq(buffer, "motor"))
tests_motor();
else if (streq(buffer, "sound"))
tests_sound();
else if (streq(buffer, "util"))
tests_util();
else if (streq(buffer, "display"))
tests_display();
else if (streq(buffer, "sysinfo"))
tests_sysinfo();
else if (streq(buffer, "sensors"))
tests_sensors();
else if (streq(buffer, "tachy"))
tests_tachy();
else if (streq(buffer, "radar"))
tests_radar();
else if (streq(buffer, "legocolor"))
tests_legocolor();
else if (streq(buffer, "ht_compass"))
tests_ht_compass();
else if (streq(buffer, "ht_accel"))
tests_ht_accel();
else if (streq(buffer, "ht_color"))
tests_ht_color();
else if (streq(buffer, "ht_gyro"))
tests_ht_gyro();
else if (streq(buffer, "ht_irlink"))
tests_ht_irlink();
else if (streq(buffer, "digitemp"))
tests_digitemp();
else if (streq(buffer, "bt"))
tests_bt();
else if (streq(buffer, "bt2"))
tests_bt2();
else if (streq(buffer, "all"))
tests_all();
else if (streq(buffer, "halt"))
return 2;
else if (streq(buffer, "Al"))
nx_motors_rotate_angle(0, 90, 100, 1);
else if (streq(buffer, "Ar"))
nx_motors_rotate_angle(0, -90, 100, 1);
else if (streq(buffer, "Ac")) {
nx_motors_rotate(0, 75);
while((t = nx_motors_get_tach_count(0)) != 0) {
if (t < 0) {
nx_motors_rotate(0, 75);
} else {
nx_motors_rotate(0, -75);
}
nx_display_cursor_set_pos(1, 1);
nx_display_hex(t);
nx_display_string(" ");
}
nx_motors_stop(0, 1);
} else if (streq(buffer, "BCf")) {
nx_motors_rotate(1, -100);
nx_motors_rotate(2, -100);
nx_systick_wait_ms(MOVE_TIME_AV);
nx_motors_stop(1, 0);
nx_motors_stop(2, 0);
} else if (streq(buffer, "BCr")) {
nx_motors_rotate(1, 80);
nx_motors_rotate(2, 80);
nx_systick_wait_ms(MOVE_TIME_AR);
nx_motors_stop(1, 0);
nx_motors_stop(2, 0);
}
else {
i = 1;
}
return i;
}
