mirror of
https://github.com/DashyFox/StackSport.git
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145 lines
2.6 KiB
C
145 lines
2.6 KiB
C
/*
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* RobotFunctions.c
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*
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* Created on: Aug 28, 2024
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* Author: DashyFox
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*/
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#include "RobotFunctions.h"
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#include "EEPROM.h"
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#include "Print.h"
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typedef enum Mode {
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NoneMode,
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ShotMode,
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ProgramMode,
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MacroMode,
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} Mode;
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uint8_t isPause = 0;
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uint8_t isShooting = 0;
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typedef struct CurrentProgram{
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Program program;
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uint8_t shot_index;
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} CurrentProgram;
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typedef struct CurrentMacro{
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Macro macro;
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uint8_t program_index;
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} CurrentMacro;
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typedef struct Current {
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Mode mode;
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Shot shot;
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CurrentProgram program;
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CurrentMacro macro;
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} Current;
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Current current;
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extern uint8_t Vz1;
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extern uint8_t Vz2;
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void doShot(Shot* shot){
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SetServo(0, shot->rotationHorizontal);
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SetServo(1, shot->rotationVertical);
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SetServo(2, shot->rotationAxial);
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Vz1 = shot->speedRollerTop;
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Vz2 = shot->speedRollerBottom;
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setScrewkSpeed(shot->speedScrew);
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}
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void startShooting(){
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switch (current.mode) {
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case ShotMode:
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print("StartShooting\n");
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if(current.shot.isExist){
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print("Fire!\n");
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print("isExist ");printNumber(current.shot.isExist);
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print("countRepeatShot; ");printNumber(current.shot.countRepeatShot);
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print("speedRollerTop; ");printNumber(current.shot.speedRollerTop);
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print("speedRollerBottom; ");printNumber(current.shot.speedRollerBottom);
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print("speedScrew; ");printNumber(current.shot.speedScrew);
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print("rotationAxial; ");printNumber(current.shot.rotationAxial);
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print("rotationHorizontal; ");printNumber(current.shot.rotationHorizontal);
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print("rotationVertical; ");printNumber(current.shot.rotationVertical);
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isShooting = 1;
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doShot(¤t.shot);
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} else {
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print("Current Shot is NULL\n");
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// TODO: sound_ERR(); ledFX_ERR();
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}
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break;
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case ProgramMode:
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break;
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case MacroMode:
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break;
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default:
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break;
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}
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}
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void stopShooting(){
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isShooting = 0;
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isPause = 0;
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setPosDefault();
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Vz1 = 100;
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Vz2 = 100;
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TIM1->CCR1 = 0;
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TIM1->CCR2 = 0;
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}
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void doShotForever(uint8_t number){
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}
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uint8_t prepareShot(uint8_t number){
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Shot shot = GetShot(number);
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if(shot.isExist){
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current.mode = ShotMode;
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current.shot = shot;
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return 1;
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} else {
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// TODO: sound_ERR(); ledFX_ERR();
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return 0;
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}
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}
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void setPos(){
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}
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void setPosDefault(){
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SetServo(0, 90);
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SetServo(1, 90);
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SetServo(2, 90);
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}
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// 0 .. 100
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void setScrewkSpeed(uint8_t speed){
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TIM1->CCR1 = 0;
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TIM1->CCR2 = (uint16_t)(40 * speed);
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}
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//(-v) 0 .. 100(stop) .. 200(+v)
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void setRollersSpeed(uint8_t up, uint8_t down){
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Vz1 = up;
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Vz2 = down;
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}
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// shot sequence
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void startProgram(){
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}
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// shot sequence
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void startMacro(){
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}
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