mirror of
https://github.com/DashyFox/StackSport.git
synced 2025-05-04 07:10:17 +00:00
programm works
This commit is contained in:
parent
b98846eac1
commit
5b4db505c2
@ -106,8 +106,8 @@ typedef struct __attribute__((packed)) {
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} HardwareInit_t;
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typedef struct __attribute__((packed)) {
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uint32_t totalShots;
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uint32_t totalPrograms;
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uint32_t shotsInShot;
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uint32_t shotsInProgram;
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uint32_t totalMacros;
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} Statistics;
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@ -36,14 +36,16 @@ typedef enum State{
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typedef struct CurrentShot {
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uint8_t index;
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uint16_t currentRepeatCount;
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uint16_t currentBallCount;
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Shot shot;
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} CurrentShot;
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typedef struct CurrentProgram {
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uint8_t index;
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Program program;
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uint8_t shot_index;
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CurrentShot currentShot;
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uint8_t programShotId;
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uint16_t currentBallCount;
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} CurrentProgram;
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typedef struct CurrentMacro {
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@ -75,7 +77,7 @@ void BallEXT();
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void RobotTick();
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uint8_t prepareShot(uint8_t number);
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//uint8_t prepareProgramm(uint8_t number);
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uint8_t prepareProgramm(uint8_t number);
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//uint8_t prepareMacro(uint8_t number);
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@ -46,8 +46,8 @@ MemoryStatus EEPROM_INIT() {
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infoBlock.hwInfo.servos[SERVO_VERTICAL].def = 90;
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infoBlock.hwInfo.servos[SERVO_VERTICAL].max = 180;
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infoBlock.statInfo.totalShots = 0;
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infoBlock.statInfo.totalPrograms = 0;
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infoBlock.statInfo.shotsInShot = 0;
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infoBlock.statInfo.shotsInProgram = 0;
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infoBlock.statInfo.totalMacros = 0;
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status = saveInfoBlock(&infoBlock);
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@ -112,11 +112,11 @@ MemoryStatus EEPROM_INIT() {
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CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
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snprintf(buffer, sizeof(buffer), "Total Shots: %lu\n",
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infoBlock.statInfo.totalShots);
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infoBlock.statInfo.shotsInShot);
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CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
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snprintf(buffer, sizeof(buffer), "Total Programs: %lu\n",
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infoBlock.statInfo.totalPrograms);
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infoBlock.statInfo.shotsInProgram);
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CDC_Transmit_FS((uint8_t*) buffer, strlen(buffer));
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snprintf(buffer, sizeof(buffer), "Total Macros: %lu\n\n",
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@ -263,7 +263,7 @@ MemoryStatus EEPROM_EARSE() {
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uint16_t old_addr = 0;
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do {
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uint8_t Buf[255];
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memset(Buf, 0xFF, sizeof(Buf));
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memset(Buf, 0x00, sizeof(Buf));
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FLASH_WriteBlock(addr, 0, Buf, sizeof(Buf), sizeof(Buf));
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old_addr = addr;
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addr += sizeof(Buf);
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@ -25,12 +25,22 @@ uint8_t ballDetected = 0;
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uint32_t ballReact_timer = 0;
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uint8_t isDelayTimerRun = 0;
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uint32_t startDelay_timer;
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Shot* postDelayShot = NULL;
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Shot *postDelayShot = NULL;
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uint32_t lastIndicationTime = 0;
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uint32_t noBallTimer = 0;
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uint32_t noBallTimeout = 0xFFFFFFFF;
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void BallEXT_Handler();
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Shot* getShotFromProgram(CurrentProgram *currentProg);
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void robotStateStart(uint32_t delayTime);
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void robotStatePause();
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void robotStateStop();
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float calculatePeriod(int pwm_value);
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uint8_t nextBallinShot(CurrentShot *shot);
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void shotApply(Shot *shot);
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uint8_t loadNextShotInProgram(CurrentProgram *currentProg);
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uint8_t loadShotFromProgram(CurrentProgram *currentProg);
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Shot* getShotFromProgram(CurrentProgram *currentProg);
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void robotStateStart(uint32_t delayTime) {
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currentInfo.state = PRERUN_WAIT;
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@ -51,55 +61,75 @@ void BallEXT() {
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ballReact_timer = millis();
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}
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// Функция для расчета периода вылета мяча на основе ШИМ
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float calculatePeriod(int pwm_value) {
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// Коэффициенты из аппроксимации
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float a = 100382.255;
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float b = 0.21895;
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float c = 883.456;
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// Коэффициенты из аппроксимации
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float a = 100382.255;
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float b = 0.21895;
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float c = 883.456;
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// Расчет периода на основе экспоненциальной формулы
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float period = a * expf(-b * pwm_value) + c;
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return period;
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// Расчет периода на основе экспоненциальной формулы
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float period = a * expf(-b * pwm_value) + c;
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return period;
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}
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void RobotTick() {
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BallEXT_Handler();
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BallEXT_Handler();
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// No Ball Handler
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if(currentInfo.state == RUN && millis() - noBallTimer > noBallTimeout){
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robotStateStop();
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setScrewkSpeed(0);
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setRollersSpeed(100, 100);
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setPos(infoBlock.hwInfo.servos[SERVO_AXIAL].def,
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infoBlock.hwInfo.servos[SERVO_HORIZONTAL].def,
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// No Ball Handler
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if (currentInfo.state == RUN && millis() - noBallTimer > noBallTimeout) {
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robotStateStop();
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setScrewkSpeed(0);
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setRollersSpeed(100, 100);
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setPos(infoBlock.hwInfo.servos[SERVO_AXIAL].def,
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infoBlock.hwInfo.servos[SERVO_HORIZONTAL].def,
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infoBlock.hwInfo.servos[SERVO_VERTICAL].min);
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print("NO BALL!!!");
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}
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print("NO BALL!!!");
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}
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// PreRun delay
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if (isDelayTimerRun) {
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uint32_t elapsedTime = millis() - startDelay_timer;
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// PreRun delay
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if (isDelayTimerRun) {
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uint32_t elapsedTime = millis() - startDelay_timer;
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if (elapsedTime > currentInfo.startDelay) {
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isDelayTimerRun = 0;
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if (currentInfo.state == PRERUN_WAIT) {
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currentInfo.state = RUN;
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shotApply(postDelayShot);
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}
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} else {
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uint32_t intervalStep = currentInfo.startDelay / NUMLEDS;
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if (elapsedTime - lastIndicationTime >= intervalStep) {
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lastIndicationTime = elapsedTime;
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uint8_t progress = (elapsedTime * 100) / currentInfo.startDelay;
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if (elapsedTime > currentInfo.startDelay) {
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isDelayTimerRun = 0;
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if (currentInfo.state == PRERUN_WAIT) {
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currentInfo.state = RUN;
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shotApply(postDelayShot);
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}
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} else {
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uint32_t intervalStep = currentInfo.startDelay / NUMLEDS;
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if (elapsedTime - lastIndicationTime >= intervalStep) {
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lastIndicationTime = elapsedTime;
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uint8_t progress = (elapsedTime * 100) / currentInfo.startDelay;
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// indicate(progress);
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print("delay: ");
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printNumber(progress);
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print("\n");
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}
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}
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}
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print("delay: ");
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printNumber(progress);
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print("\n");
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}
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}
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}
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}
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uint8_t nextBallinShot(CurrentShot *shot) {
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print("shot->shot.countRepeatShot ");
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printNumber(shot->shot.countRepeatShot);
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print("\n");
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if (shot->currentBallCount + 1 < shot->shot.countRepeatShot
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|| !shot->shot.countRepeatShot) {
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// nextBall
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print("Shot ");
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printNumber(shot->currentBallCount);
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print("\n\n");
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shot->currentBallCount++;
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return 0;
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} else {
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print("Shot DONE\n");
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return 1;
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}
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}
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void BallEXT_Handler() {
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@ -122,24 +152,30 @@ void BallEXT_Handler() {
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break;
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case ShotMode:
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if (currentInfo.shot.currentRepeatCount + 1
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< currentInfo.shot.shot.countRepeatShot
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|| !currentInfo.shot.shot.countRepeatShot) {
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// nextRepeatCount
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print("Shot ");
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printNumber(currentInfo.shot.currentRepeatCount);
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print("\n\n");
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saveInfoBlock();
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currentInfo.shot.currentRepeatCount++;
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} else {
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// shotDone
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if (nextBallinShot(¤tInfo.shot)) {
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stopShooting();
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print("Shot DONE\n");
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}
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infoBlock.statInfo.totalShots++;
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infoBlock.statInfo.shotsInShot++;
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saveInfoBlock();
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break;
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case ProgramMode:
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if (nextBallinShot(¤tInfo.program.currentShot)) {
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if (!loadNextShotInProgram(¤tInfo.program)) {
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stopShooting();
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print("loadNextShotInProgram ERR\n");
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}
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shotApply(getShotFromProgram(¤tInfo.program));
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}
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if (currentInfo.program.currentBallCount + 1
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< currentInfo.program.program.header.countRepeat) {
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currentInfo.program.currentBallCount++;
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} else {
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stopShooting();
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print("Program DONE\n");
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}
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infoBlock.statInfo.shotsInProgram++;
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saveInfoBlock();
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break;
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case MacroMode:
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@ -230,38 +266,93 @@ void shotApply(Shot *shot) {
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shot->rotationVertical);
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setRollersSpeed(shot->speedRollerTop, shot->speedRollerBottom);
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setScrewkSpeed(shot->speedScrew);
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noBallTimeout = calculatePeriod(
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shot->speedScrew) * NOBALL_TIMEOUT_MULTIPLIER;
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noBallTimer = millis();
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print("Fire!\n");
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print("isExist ");
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printNumber(shot->isExist);
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print("\ncountRepeatShot; ");
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printNumber(shot->countRepeatShot);
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print("\nspeedRollerTop; ");
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printNumber(shot->speedRollerTop);
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print("\nspeedRollerBottom; ");
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printNumber(shot->speedRollerBottom);
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print("\nspeedScrew; ");
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printNumber(shot->speedScrew);
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print("\nrotationAxial; ");
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printNumber(shot->rotationAxial);
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print("\nrotationHorizontal; ");
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printNumber(shot->rotationHorizontal);
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print("\nrotationVertical; ");
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printNumber(shot->rotationVertical);
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print("\nnoBallTimeout: ");
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printNumber(noBallTimeout);
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print("\n");
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print("\n\n");
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}
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uint8_t loadShotFromProgram(CurrentProgram *currentProg) {
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Shot shot_;
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uint8_t currentProgramShotId = currentProg->programShotId;
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if (currentProgramShotId >= currentProg->program.header.shotCount) {
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print("Shot index out of range\n");
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// TODO: sound_ERR(); ledFX_ERR();
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return 0;
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}
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uint8_t shotId = currentProg->program.shots[currentProgramShotId].id;
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currentProg->currentShot.index = shotId;
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getShot(shotId, &shot_);
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if (!shot_.isExist) {
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print("Shot in program is NULL\n");
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// TODO: sound_ERR(); ledFX_ERR();
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return 0;
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}
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shot_.speedScrew =
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currentProg->program.shots[currentProgramShotId].speedScrew;
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uint8_t repeatCountFromShot = currentProg->program.header.options & 2U;
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if (!repeatCountFromShot) {
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print("Repeat Count Override\n");
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shot_.countRepeatShot = 1;
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}
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currentProg->currentShot.shot = shot_;
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print("REPEAT ");
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printNumber(shot_.countRepeatShot);
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print("\n");
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currentProg->currentShot.currentBallCount = 0;
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return 1;
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}
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uint8_t loadNextShotInProgram(CurrentProgram *currentProg) {
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uint8_t random = currentProg->program.header.options & 1U;
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uint8_t *currentProgramShotId = ¤tProg->programShotId;
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if (random) {
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*currentProgramShotId = rand() % currentProg->program.header.shotCount;
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} else {
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if ((*currentProgramShotId) + 1
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< currentProg->program.header.shotCount) {
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++(*currentProgramShotId);
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} else {
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*currentProgramShotId = 0;
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}
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}
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return loadShotFromProgram(currentProg);
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}
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Shot* getShotFromProgram(CurrentProgram *currentProg) {
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return ¤tProg->currentShot.shot;
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}
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void startShooting(uint32_t delayTime) {
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print("StartShooting\n");
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switch (currentInfo.mode) {
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case ShotMode:
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print("StartShooting\n");
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if (currentInfo.shot.shot.isExist) {
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print("Fire!\n");
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print("isExist ");
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printNumber(currentInfo.shot.shot.isExist);
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print("\ncountRepeatShot; ");
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printNumber(currentInfo.shot.shot.countRepeatShot);
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print("\nspeedRollerTop; ");
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printNumber(currentInfo.shot.shot.speedRollerTop);
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print("\nspeedRollerBottom; ");
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printNumber(currentInfo.shot.shot.speedRollerBottom);
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print("\nspeedScrew; ");
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printNumber(currentInfo.shot.shot.speedScrew);
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print("\nrotationAxial; ");
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printNumber(currentInfo.shot.shot.rotationAxial);
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print("\nrotationHorizontal; ");
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printNumber(currentInfo.shot.shot.rotationHorizontal);
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print("\nrotationVertical; ");
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printNumber(currentInfo.shot.shot.rotationVertical);
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print("\n\n");
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postDelayShot = ¤tInfo.shot.shot;
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#if PRE_RUN_DELAY_MODE == 0
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#elif PRE_RUN_DELAY_MODE == 1
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setPosFromShot(postDelayShot);
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#endif
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if (PRE_RUN_DELAY_MODE) {
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setPosFromShot(postDelayShot);
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}
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robotStateStart(delayTime);
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} else {
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print("Current Shot is NULL\n");
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@ -269,10 +360,29 @@ void startShooting(uint32_t delayTime) {
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}
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break;
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case ProgramMode:
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if (currentInfo.program.program.header.shotCount) {
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if (!loadShotFromProgram(¤tInfo.program)) {
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print("loadShotFromProgram ERR\n");
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break;
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}
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postDelayShot = getShotFromProgram(¤tInfo.program);
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if (PRE_RUN_DELAY_MODE) {
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setPosFromShot(postDelayShot);
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}
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robotStateStart(delayTime);
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} else {
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print("Current Program is NULL\n");
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// TODO: sound_ERR(); ledFX_ERR();
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}
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break;
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case MacroMode:
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if (currentInfo.macro.macro.header.programmCount) {
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} else {
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print("Current Macro is NULL\n");
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// TODO: sound_ERR(); ledFX_ERR();
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}
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break;
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default:
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break;
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@ -292,11 +402,7 @@ uint8_t prepareShot(uint8_t number) {
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if (shot.isExist) {
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currentInfo.mode = ShotMode;
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currentInfo.shot.shot = shot;
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currentInfo.shot.currentRepeatCount = 0;
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noBallTimeout = calculatePeriod(shot.speedScrew)*NOBALL_TIMEOUT_MULTIPLIER;
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print("noBallTimeout: ");
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printNumber(noBallTimeout);
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print("\n");
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currentInfo.shot.currentBallCount = 0;
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return 1;
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} else {
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// TODO: sound_ERR(); ledFX_ERR();
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@ -305,6 +411,23 @@ uint8_t prepareShot(uint8_t number) {
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}
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}
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uint8_t prepareProgramm(uint8_t number) {
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Program program;
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getProg(number, &program);
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if (program.header.shotCount) { // isExist
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currentInfo.mode = ProgramMode;
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currentInfo.program.program = program;
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currentInfo.program.index = number;
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currentInfo.program.programShotId = 0;
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currentInfo.program.currentBallCount = 0;
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return 1;
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} else {
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// TODO: sound_ERR(); ledFX_ERR();
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print("program not exist\n\n");
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return 0;
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}
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}
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void setPosSingle(ServoMap servo, uint8_t value) {
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ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];
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uint8_t inv = currentServo->invert;
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@ -331,8 +454,9 @@ void setPos(uint8_t axial, uint8_t horizontal, uint8_t vertical) {
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setPosSingle(SERVO_VERTICAL, vertical);
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}
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void setPosFromShot(Shot* shot){
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setPos(shot->rotationAxial, shot->rotationHorizontal, shot->rotationVertical);
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void setPosFromShot(Shot *shot) {
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setPos(shot->rotationAxial, shot->rotationHorizontal,
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shot->rotationVertical);
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}
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void setPosDefault() {
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@ -45,11 +45,9 @@ void UART3_SaveShot(uint8_t *dataPtr, uint8_t len) {
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shot.speedRollerTop = dataPtr[3] + 100;
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shot.speedRollerBottom = dataPtr[4] + 100;
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shot.speedScrew = map(dataPtr[5], 0, 120, 0, 100);
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shot.rotationAxial = map((int8_t)dataPtr[6], -99, 99, 0, 180);
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shot.rotationHorizontal = map((int8_t)dataPtr[7], -99, 99, 0, 180);
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shot.rotationVertical = 180 - (int8_t)dataPtr[8] - 90;
|
||||
|
||||
|
||||
shot.rotationAxial = map((int8_t) dataPtr[6], -99, 99, 0, 180);
|
||||
shot.rotationHorizontal = map((int8_t) dataPtr[7], -99, 99, 0, 180);
|
||||
shot.rotationVertical = 180 - (int8_t) dataPtr[8] - 90;
|
||||
|
||||
saveShot(shotIndx, &shot);
|
||||
|
||||
@ -97,10 +95,10 @@ void UART3_SaveMacro(uint8_t *dataPtr, uint8_t len) {
|
||||
dataPtr[5] != 0xFF) {
|
||||
for (uint8_t i = 0; i < macro.header.programmCount; i++) {
|
||||
uint8_t pos = 2 + i * sizeof(MacroProgram);
|
||||
macro.programs[i].id = dataPtr[pos+0];
|
||||
macro.programs[i].speedScrew = dataPtr[pos+2];
|
||||
macro.programs[i].countRepeat = dataPtr[pos+3];
|
||||
macro.programs[i].options = dataPtr[pos+4];
|
||||
macro.programs[i].id = dataPtr[pos + 0];
|
||||
macro.programs[i].speedScrew = dataPtr[pos + 2];
|
||||
macro.programs[i].countRepeat = dataPtr[pos + 3];
|
||||
macro.programs[i].options = dataPtr[pos + 4];
|
||||
}
|
||||
} else {
|
||||
delMacro(macroIndx);
|
||||
@ -109,7 +107,6 @@ void UART3_SaveMacro(uint8_t *dataPtr, uint8_t len) {
|
||||
SendResponse(dataPtr[0], 0, NULL, 0);
|
||||
}
|
||||
|
||||
|
||||
void UART3_StartMacro(uint8_t *dataPtr, uint8_t len) {
|
||||
const uint8_t MIN_PARAM_LENGTH = 0;
|
||||
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
|
||||
@ -123,6 +120,10 @@ void UART3_StartProgram(uint8_t *dataPtr, uint8_t len) {
|
||||
if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
|
||||
return;
|
||||
|
||||
uint8_t progIndx = dataPtr[1];
|
||||
prepareProgramm(progIndx);
|
||||
startShooting(infoBlock.hwInfo.timings.preRun);
|
||||
|
||||
SendResponse(dataPtr[0], 0, NULL, 0);
|
||||
}
|
||||
|
||||
@ -196,7 +197,6 @@ void UART3_DeleteAllData(uint8_t *dataPtr, uint8_t len) {
|
||||
EEPROM_EARSE();
|
||||
saveInfoBlock();
|
||||
|
||||
|
||||
SendResponse(dataPtr[0], 0, NULL, 0);
|
||||
}
|
||||
|
||||
@ -222,7 +222,7 @@ void UART3_SetServoOffset(uint8_t *dataPtr, uint8_t len) {
|
||||
uint8_t newDef = dataPtr[2];
|
||||
|
||||
printNumber(newDef);
|
||||
print("\n");
|
||||
print("\n");
|
||||
|
||||
newDef += 90; // from center
|
||||
if (newDef > 180)
|
||||
@ -452,26 +452,41 @@ void UART3_ReadStatistics(uint8_t *dataPtr, uint8_t len) {
|
||||
uint8_t macro_number;
|
||||
uint8_t program_number;
|
||||
uint8_t shot_number;
|
||||
uint8_t total_macro_done_HIGH;
|
||||
uint8_t total_macro_done_LOW;
|
||||
uint8_t total_program_done_HIGH;
|
||||
uint8_t total_macro_done_HIGH;
|
||||
uint8_t total_program_done_LOW;
|
||||
uint8_t total_shot_done_HIGH;
|
||||
uint8_t total_program_done_HIGH;
|
||||
uint8_t total_shot_done_LOW;
|
||||
uint8_t total_shot_done_HIGH;
|
||||
} StatusStruct;
|
||||
|
||||
StatusStruct res;
|
||||
uint8_t isRun = currentInfo.state == RUN;
|
||||
res.status = isRun;
|
||||
|
||||
res.status = currentInfo.state == RUN;
|
||||
res.shot_number = currentInfo.shot.index;
|
||||
res.program_number = currentInfo.program.index;
|
||||
res.macro_number = currentInfo.macro.index;
|
||||
res.shot_number = 0xFF;
|
||||
res.program_number = 0xFF;
|
||||
res.macro_number = 0xFF;
|
||||
|
||||
res.total_shot_done_HIGH = HIGHBIT(infoBlock.statInfo.totalShots);
|
||||
res.total_shot_done_LOW = LOWBIT(infoBlock.statInfo.totalShots);
|
||||
switch (currentInfo.mode) {
|
||||
case ShotMode:
|
||||
res.shot_number = isRun ? currentInfo.shot.index : 0xFF;
|
||||
break;
|
||||
case ProgramMode:
|
||||
res.program_number = isRun ? currentInfo.program.index : 0xFF;
|
||||
break;
|
||||
case MacroMode:
|
||||
res.macro_number = isRun ? currentInfo.macro.index : 0xFF;
|
||||
break;
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
res.total_program_done_HIGH = HIGHBIT(infoBlock.statInfo.totalPrograms);
|
||||
res.total_program_done_LOW = LOWBIT(infoBlock.statInfo.totalPrograms);
|
||||
res.total_shot_done_HIGH = HIGHBIT(infoBlock.statInfo.shotsInShot);
|
||||
res.total_shot_done_LOW = LOWBIT(infoBlock.statInfo.shotsInShot);
|
||||
|
||||
res.total_program_done_HIGH = HIGHBIT(infoBlock.statInfo.shotsInProgram);
|
||||
res.total_program_done_LOW = LOWBIT(infoBlock.statInfo.shotsInProgram);
|
||||
|
||||
res.total_macro_done_HIGH = HIGHBIT(infoBlock.statInfo.totalMacros);
|
||||
res.total_macro_done_LOW = LOWBIT(infoBlock.statInfo.totalMacros);
|
||||
|
||||
7
TODO.md
7
TODO.md
@ -47,5 +47,10 @@ IR:
|
||||
|
||||
|
||||
Ошибки:
|
||||
V В некоторый момент PID регулятор выдаёт 0 и двигатель не запускается не зависимо от входного значенияPWM
|
||||
V+- В некоторый момент PID регулятор выдаёт 0 и двигатель не запускается не зависимо от входного значенияPWM
|
||||
Оранж:
|
||||
При сбоях UART вешает его и иногда не переинициализирует даже после рестарта контроллера
|
||||
Программы:
|
||||
Есл стоит "Настроить темп ударов", во все удары приходят нули.
|
||||
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user