diff --git a/.settings/language.settings.xml b/.settings/language.settings.xml
index a44fce3..c5c6395 100644
--- a/.settings/language.settings.xml
+++ b/.settings/language.settings.xml
@@ -5,7 +5,7 @@
-
+
@@ -16,7 +16,7 @@
-
+
diff --git a/Core/Src/IR_CMD_HandlerLogic.c b/Core/Src/IR_CMD_HandlerLogic.c
index f12663c..1a960ff 100644
--- a/Core/Src/IR_CMD_HandlerLogic.c
+++ b/Core/Src/IR_CMD_HandlerLogic.c
@@ -185,6 +185,9 @@ void IR_Home_Process() {
break;
case IR_STOP:
+ speedUP = 100;
+ speedDown = 100;
+ screwSpeed = 0;
stopShooting();
break;
diff --git a/Core/Src/RobotFunctions.c b/Core/Src/RobotFunctions.c
index f488081..46aeaa2 100644
--- a/Core/Src/RobotFunctions.c
+++ b/Core/Src/RobotFunctions.c
@@ -152,7 +152,8 @@ void setScrewkSpeed(uint8_t speed) {
//(-v) 0 .. 100(stop) .. 200(+v)
void setRollersSpeed(uint8_t up, uint8_t down) {
- Vz1 = up;
+
+ Vz1 = 200-up; // invert
Vz2 = down;
}
// shot sequence
diff --git a/Core/Src/main.c b/Core/Src/main.c
index 32eb8e6..f6e30a8 100644
--- a/Core/Src/main.c
+++ b/Core/Src/main.c
@@ -148,13 +148,13 @@ int main(void)
MX_GPIO_Init();
MX_I2C1_Init();
MX_USB_DEVICE_Init();
- MX_USART3_UART_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_TIM3_Init();
+ MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
- HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); //PA8
+ HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_1); //PA8
HAL_TIM_PWM_Start(&htim1, TIM_CHANNEL_2); //PA9
HAL_TIM_PWM_Start(&htim2, TIM_CHANNEL_1); //PA0
@@ -193,6 +193,8 @@ initcomlete = 1;
HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_1); // ������ �� ������ 1 �6 ������ ��� ��������� �� PA0 PA1
+ HAL_TIM_IC_Start_IT(&htim3, TIM_CHANNEL_2);
+
HAL_TIM_Base_Start_IT(&htim3);
HAL_NVIC_EnableIRQ(TIM3_IRQn);
diff --git a/Core/Src/stm32f1xx_hal_msp.c b/Core/Src/stm32f1xx_hal_msp.c
index 7afa914..ac61953 100644
--- a/Core/Src/stm32f1xx_hal_msp.c
+++ b/Core/Src/stm32f1xx_hal_msp.c
@@ -204,7 +204,7 @@ void HAL_TIM_Base_MspInit(TIM_HandleTypeDef* htim_base)
*/
GPIO_InitStruct.Pin = SPEED_CAPTURE_UP_Pin|SPEED_CAPTURE_DOWN_Pin;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
- GPIO_InitStruct.Pull = GPIO_NOPULL;
+ GPIO_InitStruct.Pull = GPIO_PULLUP;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
/* TIM3 interrupt Init */
diff --git a/Core/Src/stm32f1xx_it.c b/Core/Src/stm32f1xx_it.c
index 7501ad3..3e07762 100644
--- a/Core/Src/stm32f1xx_it.c
+++ b/Core/Src/stm32f1xx_it.c
@@ -29,6 +29,7 @@
#include "usbd_cdc_if.h"
#include "GlobalDefines.h"
+#include "Print.h"
/* USER CODE END Includes */
/* Private typedef -----------------------------------------------------------*/
diff --git a/StackSport Release.launch b/StackSport Release.launch
index 990e8bc..89bac7c 100644
--- a/StackSport Release.launch
+++ b/StackSport Release.launch
@@ -40,6 +40,7 @@
+
@@ -77,5 +78,6 @@
+
diff --git a/StackSport.ioc b/StackSport.ioc
index b85f014..f6d6e04 100644
--- a/StackSport.ioc
+++ b/StackSport.ioc
@@ -105,11 +105,13 @@ PA5.GPIOParameters=GPIO_Label
PA5.GPIO_Label=LED_CLK
PA5.Locked=true
PA5.Signal=GPIO_Output
-PA6.GPIOParameters=GPIO_Label
+PA6.GPIOParameters=GPIO_PuPd,GPIO_Label
PA6.GPIO_Label=SPEED_CAPTURE_UP
+PA6.GPIO_PuPd=GPIO_PULLUP
PA6.Signal=S_TIM3_CH1
-PA7.GPIOParameters=GPIO_Label
+PA7.GPIOParameters=GPIO_PuPd,GPIO_Label
PA7.GPIO_Label=SPEED_CAPTURE_DOWN
+PA7.GPIO_PuPd=GPIO_PULLUP
PA7.Signal=S_TIM3_CH2
PA8.GPIOParameters=GPIO_Label
PA8.GPIO_Label=LPWM_S