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TestRunTFLoWWithoutFLoWRTOS.c
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TestRunTFLoWWithoutFLoWRTOS.c
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/*
Copyright (C) 2018 ER2C
Politektik Elektronika Negeri Surabaya
Agung Pambudi <[email protected]>
*/
///////////////////////////////////////////////////////////////////////////////
// Includes
///////////////////////////////////////////////////////////////////////////////
#include "flowrtos.h"
#include "KinematicControl.h"
////////////////////////////////////////////////////////////////////////////////
// Code
////////////////////////////////////////////////////////////////////////////////
void main(void){
management_io();
management_timer_init();
while(true){
get_euler_angles();
kinematic_control(0, 0, 0, true);
set_position();
delay_us(50000);
}
while (false){
PRINTF("0 0 0\n\r");
kinematic_control(0,0,0);
delay_us(1000000);
PRINTF("25 0 0\n\r");
kinematic_control(25,0,0);
delay_us(1000000);
PRINTF("0 0 0\n\r");
kinematic_control(0,0,0);
delay_us(1000000);
PRINTF("-25 0 0\n\r");
kinematic_control(-25,0,0);
delay_us(1000000);
PRINTF("0 0 0\n\r");
kinematic_control(0,0,0);
delay_us(1000000);
PRINTF("0 25 0\n\r");
kinematic_control(0,25,0);
delay_us(1000000);
PRINTF("0 0 0\n\r");
kinematic_control(0,0,0);
delay_us(1000000);
PRINTF("0 -25 0\n\r");
kinematic_control(0,-25,0);
delay_us(1000000);
PRINTF("0 0 0\n\r");
kinematic_control(0,0,0);
delay_us(1000000);
PRINTF("0 0 25\n\r");
kinematic_control(0,0,25);
delay_us(1000000);
PRINTF("0 0 0\n\r");
kinematic_control(0,0,0);
delay_us(1000000);
PRINTF("0 0 -25\n\r");
kinematic_control(0,0,-25);
delay_us(1000000);
PRINTF("0 0 0\n\r");
kinematic_control(0,0,0);
delay_us(1000000);
PRINTF("15 15 0\n\r");
kinematic_control(15,15,0);
delay_us(1000000);
PRINTF("0 0 0\n\r");
kinematic_control(0,0,0);
delay_us(1000000);
PRINTF("15 -15 0\n\r");
kinematic_control(15,-15,0);
delay_us(1000000);
PRINTF("0 0 0\n\r");
kinematic_control(0,0,0);
delay_us(1000000);
PRINTF("-15 -15 0\n\r");
kinematic_control(-15,-15,0);
delay_us(1000000);
PRINTF("0 0 0\n\r");
kinematic_control(0,0,0);
delay_us(1000000);
PRINTF("-15 15 0\n\r");
kinematic_control(-15,15,0);
delay_us(1000000);
}
}
/*******************************************************************************
* EOF
******************************************************************************/