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fix program switch

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DashyFox 2024-09-25 03:25:12 +03:00
parent 31a74305f6
commit d9ad8667cc
1 changed files with 18 additions and 13 deletions
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25
Core/Src/RobotFunctions.c
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@ -147,7 +147,6 @@ void BallEXT() {
ballReact_timer = millis();
}
void RobotTick() {
BallEXT_Handler();
@ -348,7 +347,6 @@ uint8_t loadProgramFromMacro(CurrentMacro *currentMacro) {
return 0;
}
uint8_t programId = currentMacro->macro.programs[currentProgIndexLocal].id;
currentMacro->currentProgram.indexGlobal = programId;
getProg(programId, &program_);
@ -364,11 +362,12 @@ uint8_t loadProgramFromMacro(CurrentMacro *currentMacro) {
&& currentMacro->macro.programs[currentProgIndexLocal].speedScrew
!= 0;
if (needOverride)
{
if (needOverride) {
print("Override programs params\n");
program_.header.countRepeat = currentMacro->macro.programs[currentProgIndexLocal].countRepeat;
program_.header.options = currentMacro->macro.programs[currentProgIndexLocal].options;
program_.header.countRepeat =
currentMacro->macro.programs[currentProgIndexLocal].countRepeat;
program_.header.options =
currentMacro->macro.programs[currentProgIndexLocal].options;
for (uint8_t i = 0; i < program_.header.shotCount; i++) {
program_.shots[i].speedScrew =
currentMacro->macro.programs[currentProgIndexLocal].speedScrew;
@ -378,6 +377,7 @@ uint8_t loadProgramFromMacro(CurrentMacro *currentMacro) {
currentMacro->currentProgram.currentShotIndexLocal = 0;
currentMacro->currentProgram.currentBallCount = 0;
loadShotFromProgram(&currentMacro->currentProgram);
return 1;
}
@ -412,15 +412,15 @@ uint8_t nextBallInShot(CurrentShot *shot) {
}
}
uint8_t nextShotInProgram(CurrentProgram *prog) {
uint8_t shotApply_f = 0;
if (nextBallInShot(&prog->currentShot)) {
print("\nSwitch shot\n");
if (!loadNextShotInProgram(prog)) {
print("loadNextShotInProgram ERR\n");
return 0;
}
shotApply(&prog->currentShot);
shotApply_f = 1;
}
// Проверка на завершение программы
@ -431,18 +431,21 @@ uint8_t nextShotInProgram(CurrentProgram *prog) {
print("Program DONE\n");
return 1;
}
if (shotApply_f)
shotApply(&prog->currentShot);
return 0;
}
uint8_t nextProgramInMacro(CurrentMacro *currentMacro) {
// uint8_t shotApply_f = 0;
if (nextShotInProgram(&currentMacro->currentProgram)) {
print("\nSwitch program\n");
if (!loadNextProgramInMacro(currentMacro)) {
print("loadNextProgramInMacro ERR\n");
return 0;
}
// shotApply(&currentMacro->currentProgram.currentShot);
shotApply(&currentMacro->currentProgram.currentShot);
// shotApply_f = 1;
}
// Проверка на завершение макро
@ -451,6 +454,8 @@ uint8_t nextProgramInMacro(CurrentMacro *currentMacro) {
// print("Macro DONE\n");
// return 1;
// }
// if (shotApply_f)
// shotApply(&currentMacro->currentProgram.currentShot);
return 0;
}