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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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31
Core/Src/RobotFunctions.c
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@ -60,7 +60,7 @@ void robotStateStop() {
long map(long x, long in_min, long in_max, long out_min, long out_max) {
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
float calculatePeriod(int pwm_value) {// Функция для расчета периода вылета мяча на основе ШИМ
float calculatePeriod(int pwm_value) { // Функция для расчета периода вылета мяча на основе ШИМ
// Коэффициенты из аппроксимации
float a = 100382.255;
float b = 0.21895;
@ -147,7 +147,6 @@ void BallEXT() {
ballReact_timer = millis();
}
void RobotTick() {
BallEXT_Handler();
@ -314,7 +313,7 @@ uint8_t loadShotFromProgram(CurrentProgram *currentProg) {
if (!repeatCountFromShot) {
print("Repeat Count Override\n");
shot_.countRepeatShot = 1;
}else if(shot_.countRepeatShot == 0 && currentInfo.mode != ShotMode){
} else if (shot_.countRepeatShot == 0 && currentInfo.mode != ShotMode) {
shot_.countRepeatShot = 1;
}
currentProg->currentShot.shot = shot_;
@ -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;
}
@ -521,7 +526,7 @@ void stopShooting() {
}
void shotApply(CurrentShot *currentShot) {
Shot* shot = &currentShot->shot;
Shot *shot = &currentShot->shot;
setPos(shot->rotationAxial, shot->rotationHorizontal,
shot->rotationVertical);
setRollersSpeed(shot->speedRollerTop, shot->speedRollerBottom);