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108 lines
2.1 KiB
C
108 lines
2.1 KiB
C
/*
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* RobotFunctions.h
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*
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* Created on: Aug 24, 2024
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* Author: DashyFox
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*/
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#ifndef INC_ROBOTFUNCTIONS_H_
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#define INC_ROBOTFUNCTIONS_H_
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#include "pca9685.h"
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#include "EEPROM.h"
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// 0 - setPos AFTER preRun delay
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// 1 - setPos IMMEDIATELY
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#define PRE_RUN_DELAY_MODE 0
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#define NOBALL_TIMEOUT_MULTIPLIER 4.2
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#define NOBALL_TIMEOUT_HARD 20000
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typedef enum ServoMap{
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SERVO_AXIAL = 0,
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SERVO_HORIZONTAL = 1,
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SERVO_VERTICAL = 2
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}ServoMap;
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typedef enum Mode {
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NoneMode, ShotMode, ProgramMode, MacroMode,
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DebugShot,
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} Mode;
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typedef enum State{
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STOP,
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RUN,
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PAUSE,
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PRERUN_WAIT
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}State;
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typedef struct CurrentShot {
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uint8_t indexGlobal;
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uint16_t currentBallCount;
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Shot shot;
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uint16_t doneCount;
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} CurrentShot;
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typedef struct CurrentProgram {
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uint8_t indexGlobal;
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Program program;
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CurrentShot currentShot;
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uint8_t currentShotIndexLocal;
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uint16_t currentBallCount;
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uint16_t doneCount;
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} CurrentProgram;
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typedef struct CurrentMacro {
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uint8_t indexGlobal;
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Macro macro;
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CurrentProgram currentProgram;
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uint8_t currentProgramIndexLocal;
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uint16_t currentBallCount;
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uint16_t doneCount;
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} CurrentMacro;
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typedef struct CurrentInfo {
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Mode mode;
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State state;
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CurrentShot shot;
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CurrentProgram program;
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CurrentMacro macro;
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uint32_t startDelay;
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} CurrentInfo;
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extern CurrentInfo currentInfo;
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void Robot_INIT();
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void shotApply(CurrentShot*);
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void doShotForever(uint8_t number);
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void BallEXT();
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void RobotTick();
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uint8_t prepareShot(uint8_t number);
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uint8_t prepareProgramm(uint8_t number);
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uint8_t prepareMacro(uint8_t number);
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void startShooting(uint32_t delayTime);
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void stopShooting();
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void pauseShooting();
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long map(long x, long in_min, long in_max, long out_min, long out_max);
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void setPos(uint8_t axial, uint8_t horizontal, uint8_t vertical);
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void setPosSingle(ServoMap servo, uint8_t value);
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void setPosFromShot(Shot* shot);
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void setPosDefault();
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void setPosOff();
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void setPosDefaultSingle(ServoMap servo);
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// 0 .. 100
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void setScrewkSpeed(uint8_t speed);
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//(-v) 0 .. 100(stop) .. 200(+v)
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void setRollersSpeed(uint8_t up, uint8_t down); //(-v) 0 . 100(stop) . 200(+v)
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#endif /* INC_ROBOTFUNCTIONS_H_ */
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