SelfTest.c

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/*******************************************************************************
*
* File Name:   SelfTest.c
* Project  :   SelfTest
*
* Description:
*
* Ver.     Date         Author           Comments
* -------  ----------   --------------   ------------------------------
* 1.00     14.08.2003   Jan Grewe                build
* 2.00     22.10.2003   Jan Grewe        angepasst auf asuro.c Ver.2.10
*
* Copyright (c) 2003 DLR Robotics & Mechatronics
*****************************************************************************/
/***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU General Public License as published by  *
 *   the Free Software Foundation; either version 2 of the License, or     *
 *   any later version.                                                    *
 ***************************************************************************/
#include "asuro.h"
#include "test.h"

void SelfTest (void)
{
  unsigned int i;
  Init();
//  for (;;)
  {
    SerWrite("\n\r-- ASURO Testing --\n\r",23);

    SerWrite("LED Test\n\r",10);
    LEDTest();

    SerWrite("Line Test\n\r",11);
    StatusLED(GREEN);
    for (i = 0; i < 0xFE00; i++)
      LineTest();
    StatusLED(OFF);

    SerWrite("Switch Test\n\r",13);
    for (i = 0; i < 0xFE00; i++)
      SwitchTest();
    Init();
    StatusLED(OFF);

    SerWrite("Odometrie Test\n\r",16);
    FrontLED(ON);
    for (i = 0; i < 0xFFF0; i++)
      OdometrieTest();
    StatusLED(OFF);
    FrontLED(OFF);

    SerWrite("Motor Test\n\r",12);
    BackLED(ON,ON);
    MotorTest();
    BackLED(OFF,OFF);

    SerWrite("Serial Test\n\r",13);
    SerialTest();
  }
}

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