mirror of
https://github.com/DashyFox/StackSport.git
synced 2025-06-28 05:09:32 +00:00
shooting process
This commit is contained in:
@ -31,6 +31,7 @@ uint8_t checkLen(uint8_t cmd, uint8_t current_length, uint8_t required_length) {
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return 1;
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}
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// 10
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void UART3_SaveShot(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 8;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -44,9 +45,11 @@ 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(dataPtr[6], -99, 99, 0, 180);
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shot.rotationHorizontal = map(dataPtr[7], -99, 99, 90 - 45, 90 + 45);
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shot.rotationVertical = 180 - dataPtr[8];
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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;
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saveShot(shotIndx, &shot);
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@ -106,6 +109,7 @@ void UART3_SaveMacro(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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void UART3_StartMacro(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -122,6 +126,7 @@ void UART3_StartProgram(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 102
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void UART3_StartShot(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 1;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -129,19 +134,23 @@ void UART3_StartShot(uint8_t *dataPtr, uint8_t len) {
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uint8_t shotIndx = dataPtr[1];
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prepareShot(shotIndx);
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startShooting();
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startShooting(infoBlock.hwInfo.timings.preRun);
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 110
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void UART3_Stop(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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stopShooting();
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 13
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void UART3_DeleteShot(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 1;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -153,6 +162,7 @@ void UART3_DeleteShot(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 14
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void UART3_DeleteProgram(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -164,6 +174,7 @@ void UART3_DeleteProgram(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 15
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void UART3_DeleteMacro(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -175,7 +186,7 @@ void UART3_DeleteMacro(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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//120
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// 120
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void UART3_DeleteAllData(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -189,41 +200,45 @@ void UART3_DeleteAllData(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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//180
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// 180
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void UART3_GetDeviceStatus(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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uint8_t res = currentInfo.state.isShooting;
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uint8_t res = currentInfo.state == RUN;
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SendResponse(dataPtr[0], 0, &res, sizeof(res));
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}
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//200
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// 200
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void UART3_SetServoOffset(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 3;
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const uint8_t MIN_PARAM_LENGTH = 2;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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ServoMap servo = dataPtr[1];
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ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];
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int16_t newDef = (dataPtr[2] << 8) | dataPtr[3];
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uint8_t newDef = dataPtr[2];
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printNumber(newDef);
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print("\n");
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newDef += 90; // from center
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if (newDef < 0)
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newDef = 0;
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if (newDef > 180)
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newDef = 180;
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currentServo->def = newDef;
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printNumber(newDef);
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print("\n");
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saveInfoBlock();
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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//204
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// 205
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void UART3_GetServoOffset(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 1;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -240,7 +255,7 @@ void UART3_GetServoOffset(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, res, sizeof(res));
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}
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//201
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// 201
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void UART3_SetServoMaxAngle(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 3;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -260,6 +275,26 @@ void UART3_SetServoMaxAngle(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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// 202
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void UART3_SetServoMinAngle(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 3;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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ServoMap servo = dataPtr[1];
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uint16_t minAngl = (dataPtr[2] << 8) | dataPtr[3];
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ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];
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if (minAngl > 180)
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minAngl = 180;
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if (minAngl < 0)
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minAngl = 0;
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currentServo->min = minAngl;
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saveInfoBlock();
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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void UART3_GetServoMaxAngle(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 1;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -276,26 +311,6 @@ void UART3_GetServoMaxAngle(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, res, sizeof(res));
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}
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//202
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void UART3_SetServoMinAngle(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 3;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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return;
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ServoMap servo = dataPtr[1];
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uint16_t minAngl = (dataPtr[2] << 8) | dataPtr[3];
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ServoSetting *currentServo = &infoBlock.hwInfo.servos[servo];
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if (minAngl > 180)
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minAngl = 180;
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if (minAngl < 0)
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minAngl = 0;
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currentServo->min = minAngl;
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saveInfoBlock();
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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void UART3_GetServoMinAngle(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 1;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -312,7 +327,7 @@ void UART3_GetServoMinAngle(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, res, sizeof(res));
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}
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//203
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// 203
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void UART3_MoveServoToInitialPosition(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 1;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -323,7 +338,7 @@ void UART3_MoveServoToInitialPosition(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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//206
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// 206
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void UART3_SetStartupDelay(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 2;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -335,7 +350,7 @@ void UART3_SetStartupDelay(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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//207
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// 207
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void UART3_GetStartupDelay(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -349,7 +364,7 @@ void UART3_GetStartupDelay(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, res, sizeof(res));
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}
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//210 !!!!!!!!
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// 210 !!!!!!!!
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void UART3_SetMinRollerSpeed(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -358,7 +373,7 @@ void UART3_SetMinRollerSpeed(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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//211 !!!!!!!!!!!
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// 211 !!!!!!!!!!!
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void UART3_GetMinRollerSpeed(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -370,7 +385,7 @@ void UART3_GetMinRollerSpeed(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, res, sizeof(res));
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}
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//212
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// 212
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void UART3_SetMinScrewSpeed(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 1;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -382,7 +397,7 @@ void UART3_SetMinScrewSpeed(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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//215
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// 215
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void UART3_GetMinScrewSpeed(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -394,7 +409,7 @@ void UART3_GetMinScrewSpeed(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, res, sizeof(res));
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}
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//214
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// 214
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void UART3_SetServoInvertFlag(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 1;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -411,7 +426,7 @@ void UART3_SetServoInvertFlag(uint8_t *dataPtr, uint8_t len) {
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SendResponse(dataPtr[0], 0, NULL, 0);
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}
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//215
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// 215
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void UART3_GetServoInvertFlag(uint8_t *dataPtr, uint8_t len) {
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const uint8_t MIN_PARAM_LENGTH = 0;
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if (!checkLen(dataPtr[0], len, MIN_PARAM_LENGTH))
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@ -447,7 +462,7 @@ void UART3_ReadStatistics(uint8_t *dataPtr, uint8_t len) {
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StatusStruct res;
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res.status = currentInfo.state.isShooting;
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res.status = currentInfo.state == RUN;
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res.shot_number = currentInfo.shot.index;
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res.program_number = currentInfo.program.index;
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res.macro_number = currentInfo.macro.index;
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