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Uart working

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DashyFox
2024-09-15 19:29:07 +03:00
parent 419c55d807
commit cad6b45c5d
21 changed files with 1187 additions and 697 deletions
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122
Core/Src/RobotFunctions.c
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@ -36,24 +36,17 @@ typedef struct Current {
Current current;
HardwareInit_t hwSettings = {
/*DelayTimes*/ {
/*preRun*/ 0
},
/*ServoSetting*/{
{0, 0, 90, 180},
{0, 0, 90, 180},
{0, 0, 90, 180}
},
/*Motors*/{
0, 0
}
};
/*DelayTimes*/{
/*preRun*/0 },
/*ServoSetting*/{ { 0, 0, 90, 180 }, { 0, 0, 90, 180 }, { 0, 0, 90, 180 } },
/*Motors*/{ 0, 0 } };
extern int16_t Vz1;
extern int16_t Vz2;
int16_t map(int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max) {
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
int16_t map(int16_t x, int16_t in_min, int16_t in_max, int16_t out_min,
int16_t out_max) {
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
void doShot(Shot *shot) {
@ -67,36 +60,43 @@ void doShot(Shot *shot) {
void startShooting() {
switch (current.mode) {
case ShotMode:
print("StartShooting\n");
if(current.shot.isExist){
print("Fire!\n");
case ShotMode:
print("StartShooting\n");
if (current.shot.isExist) {
print("Fire!\n");
print("isExist ");printNumber(current.shot.isExist);
print("countRepeatShot; ");printNumber(current.shot.countRepeatShot);
print("speedRollerTop; ");printNumber(current.shot.speedRollerTop);
print("speedRollerBottom; ");printNumber(current.shot.speedRollerBottom);
print("speedScrew; ");printNumber(current.shot.speedScrew);
print("rotationAxial; ");printNumber(current.shot.rotationAxial);
print("rotationHorizontal; ");printNumber(current.shot.rotationHorizontal);
print("rotationVertical; ");printNumber(current.shot.rotationVertical);
print("isExist ");
printNumber(current.shot.isExist);
print("countRepeatShot; ");
printNumber(current.shot.countRepeatShot);
print("speedRollerTop; ");
printNumber(current.shot.speedRollerTop);
print("speedRollerBottom; ");
printNumber(current.shot.speedRollerBottom);
print("speedScrew; ");
printNumber(current.shot.speedScrew);
print("rotationAxial; ");
printNumber(current.shot.rotationAxial);
print("rotationHorizontal; ");
printNumber(current.shot.rotationHorizontal);
print("rotationVertical; ");
printNumber(current.shot.rotationVertical);
isShooting = 1;
doShot(&current.shot);
} else {
print("Current Shot is NULL\n");
// TODO: sound_ERR(); ledFX_ERR();
}
break;
case ProgramMode:
isShooting = 1;
doShot(&current.shot);
} else {
print("Current Shot is NULL\n");
// TODO: sound_ERR(); ledFX_ERR();
}
break;
case ProgramMode:
break;
case MacroMode:
break;
case MacroMode:
break;
default:
break;
break;
default:
break;
}
}
@ -126,49 +126,53 @@ uint8_t prepareShot(uint8_t number) {
}
}
void setPosSingle(ServoMap servo, uint8_t value) {
if (hwSettings.servos[servo].invert)
value = 180 - value;
SetServo(servo, value);
}
void setPos(uint8_t axial, uint8_t horizontal, uint8_t vertical) {
//todo:
// hwSettings.servos[SERVO_AXIAL].invert
SetServo(SERVO_AXIAL, axial); // Axial
SetServo(SERVO_HORIZONTAL, horizontal); // Horizontal
SetServo(SERVO_VERTICAL, vertical); // Vertical
setPosSingle(SERVO_AXIAL, axial);
setPosSingle(SERVO_HORIZONTAL, horizontal);
setPosSingle(SERVO_VERTICAL, vertical);
}
void setPosDefault() {
SetServo(SERVO_AXIAL, hwSettings.servos[SERVO_AXIAL].def); // Axial
SetServo(SERVO_HORIZONTAL, hwSettings.servos[SERVO_HORIZONTAL].def); // Horizontal
SetServo(SERVO_VERTICAL, hwSettings.servos[SERVO_VERTICAL].def); // Vertical
setPos(
hwSettings.servos[SERVO_AXIAL].def,
hwSettings.servos[SERVO_HORIZONTAL].def,
hwSettings.servos[SERVO_VERTICAL].def
);
}
// 0 .. 100
void setScrewkSpeed(uint8_t speed) {
// if(speed < 0) speed = 0;
if(speed > 100) speed = 100;
if (speed > 100)
speed = 100;
speed = map(speed, 0, 100, hwSettings.motors.speed_Screw_min, 100);
TIM1->CCR1 = 0;
TIM1->CCR2 = (uint16_t)(40 * speed);
TIM1->CCR2 = (uint16_t) (40 * speed);
}
//(-v) 0 .. 100(stop) .. 200(+v)
void setRollersSpeed(uint8_t up, uint8_t down) {
if(up < 100){
up = map(up, 0, 100, 0, 100-hwSettings.motors.speed_Screw_min);
if (up < 100) {
up = map(up, 0, 100, 0, 100 - hwSettings.motors.speed_Screw_min);
} else {
up = map(up, 0, 100, 0, 100+hwSettings.motors.speed_Screw_min);
up = map(up, 0, 100, 0, 100 + hwSettings.motors.speed_Screw_min);
}
if(down < 100){
map(down, 0, 100, 0, 100-hwSettings.motors.speed_Screw_min);
if (down < 100) {
map(down, 0, 100, 0, 100 - hwSettings.motors.speed_Screw_min);
} else {
map(down, 0, 100, 0, 100+hwSettings.motors.speed_Screw_min);
map(down, 0, 100, 0, 100 + hwSettings.motors.speed_Screw_min);
}
Vz1 = 200-up; // invert
Vz1 = 200 - up; // invert
Vz2 = down;
}
// shot sequence