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fix programm

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This commit is contained in:
DashyFox 2024-09-22 23:02:30 +03:00
parent 9b94fd12d6
commit 1564f38ff3
2 changed files with 10 additions and 6 deletions
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14
Core/Src/RobotFunctions.c
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@ -13,7 +13,7 @@
#include "Print.h" #include "Print.h"
#include "SimpleTimer.h" #include "SimpleTimer.h"
#define ballReact_value 10 #define ballReact_value 10 // время реакции на вылет мяча
CurrentInfo currentInfo; CurrentInfo currentInfo;
@ -266,8 +266,8 @@ void shotApply(Shot *shot) {
shot->rotationVertical); shot->rotationVertical);
setRollersSpeed(shot->speedRollerTop, shot->speedRollerBottom); setRollersSpeed(shot->speedRollerTop, shot->speedRollerBottom);
setScrewkSpeed(shot->speedScrew); setScrewkSpeed(shot->speedScrew);
noBallTimeout = calculatePeriod( noBallTimeout = MIN(calculatePeriod(
shot->speedScrew) * NOBALL_TIMEOUT_MULTIPLIER; shot->speedScrew) * NOBALL_TIMEOUT_MULTIPLIER, 30000);
noBallTimer = millis(); noBallTimer = millis();
print("Fire!\n"); print("Fire!\n");
print("isExist "); print("isExist ");
@ -308,8 +308,13 @@ uint8_t loadShotFromProgram(CurrentProgram *currentProg) {
// TODO: sound_ERR(); ledFX_ERR(); // TODO: sound_ERR(); ledFX_ERR();
return 0; return 0;
} }
shot_.speedScrew =
uint8_t overridenSpeedScrew =
currentProg->program.shots[currentProgramShotId].speedScrew; currentProg->program.shots[currentProgramShotId].speedScrew;
if (overridenSpeedScrew != 0) {
shot_.speedScrew = overridenSpeedScrew;
}
uint8_t repeatCountFromShot = currentProg->program.header.options & 2U; uint8_t repeatCountFromShot = currentProg->program.header.options & 2U;
if (!repeatCountFromShot) { if (!repeatCountFromShot) {
print("Repeat Count Override\n"); print("Repeat Count Override\n");
@ -410,7 +415,6 @@ uint8_t prepareShot(uint8_t number) {
return 0; return 0;
} }
} }
uint8_t prepareProgramm(uint8_t number) { uint8_t prepareProgramm(uint8_t number) {
Program program; Program program;
getProg(number, &program); getProg(number, &program);

2
Core/Src/UART3_CMD_Handler.c
View File

@ -65,7 +65,7 @@ void UART3_SaveProgram(uint8_t *dataPtr, uint8_t len) {
prog.header.countRepeat = dataPtr[2]; prog.header.countRepeat = dataPtr[2];
prog.header.options = dataPtr[3]; 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++) { for (uint8_t i = 0; i < prog.header.shotCount; i++) {
uint8_t pos = 4 + i * sizeof(ProgramShot); uint8_t pos = 4 + i * sizeof(ProgramShot);
prog.shots[i].id = dataPtr[pos + 0]; prog.shots[i].id = dataPtr[pos + 0];