From 1564f38ff30e9dada362126b4dc388f4c1a547bb Mon Sep 17 00:00:00 2001
From: DashyFox <DashyFox@yandex.ru>
Date: Sun, 22 Sep 2024 23:02:30 +0300
Subject: [PATCH] fix programm

---
 Core/Src/RobotFunctions.c    | 14 +++++++++-----
 Core/Src/UART3_CMD_Handler.c |  2 +-
 2 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/Core/Src/RobotFunctions.c b/Core/Src/RobotFunctions.c
index 90bca75..11a3995 100644
--- a/Core/Src/RobotFunctions.c
+++ b/Core/Src/RobotFunctions.c
@@ -13,7 +13,7 @@
 #include "Print.h"
 #include "SimpleTimer.h"
 
-#define ballReact_value 10
+#define ballReact_value 10 // время реакции на вылет мяча
 
 CurrentInfo currentInfo;
 
@@ -266,8 +266,8 @@ void shotApply(Shot *shot) {
 			shot->rotationVertical);
 	setRollersSpeed(shot->speedRollerTop, shot->speedRollerBottom);
 	setScrewkSpeed(shot->speedScrew);
-	noBallTimeout = calculatePeriod(
-			shot->speedScrew) * NOBALL_TIMEOUT_MULTIPLIER;
+	noBallTimeout = MIN(calculatePeriod(
+			shot->speedScrew) * NOBALL_TIMEOUT_MULTIPLIER, 30000);
 	noBallTimer = millis();
 	print("Fire!\n");
 	print("isExist               ");
@@ -308,8 +308,13 @@ uint8_t loadShotFromProgram(CurrentProgram *currentProg) {
 		// TODO: sound_ERR(); ledFX_ERR();
 		return 0;
 	}
-	shot_.speedScrew =
+
+	uint8_t overridenSpeedScrew =
 			currentProg->program.shots[currentProgramShotId].speedScrew;
+	if (overridenSpeedScrew != 0) {
+		shot_.speedScrew = overridenSpeedScrew;
+	}
+
 	uint8_t repeatCountFromShot = currentProg->program.header.options & 2U;
 	if (!repeatCountFromShot) {
 		print("Repeat Count Override\n");
@@ -410,7 +415,6 @@ uint8_t prepareShot(uint8_t number) {
 		return 0;
 	}
 }
-
 uint8_t prepareProgramm(uint8_t number) {
 	Program program;
 	getProg(number, &program);
diff --git a/Core/Src/UART3_CMD_Handler.c b/Core/Src/UART3_CMD_Handler.c
index 8678b51..45d4e6e 100644
--- a/Core/Src/UART3_CMD_Handler.c
+++ b/Core/Src/UART3_CMD_Handler.c
@@ -65,7 +65,7 @@ void UART3_SaveProgram(uint8_t *dataPtr, uint8_t len) {
 	prog.header.countRepeat = dataPtr[2];
 	prog.header.options = dataPtr[3];
 
-	if (dataPtr[4] != 0xFF && dataPtr[5]) {
+	if (dataPtr[4] != 0xFF && dataPtr[5] != 0xFF) {
 		for (uint8_t i = 0; i < prog.header.shotCount; i++) {
 			uint8_t pos = 4 + i * sizeof(ProgramShot);
 			prog.shots[i].id = dataPtr[pos + 0];