Klagarge/SummerSchool2-Controller
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fix steering implementation

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This commit is contained in:
Rémi Heredero
2023-09-04 19:51:19 +02:00
parent 4e492fb10b
commit 319ae576ad
7 changed files with 75 additions and 73 deletions
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10
306-controller_interface.X/app/drive.c
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@@ -8,8 +8,8 @@
#include "drive.h"
#include "car.h"
#include "can_message.h"
#include "steering.h"
#include "factory/factory.h"
//#include "steering.h"
//#include "factory/factory.h"
void DRIVE_init(DRIVE* me){
me->state = STDR_INIT;
@@ -33,7 +33,7 @@ bool DRIVE_processEvent(Event* ev) {
DRIVE_STATES oldState = me->state;
evIDT evid = Event_getId(ev);
uint64_t data = Event_getData(ev);
STEERING_STATES steeringState = steering()->state;
// STEERING_STATES steeringState = steering()->state;
switch (me->state) { // onState
@@ -59,9 +59,9 @@ bool DRIVE_processEvent(Event* ev) {
}
if (ev->id == evDRpollTorque) {
if(steeringState == STST_RUN) {
//if(steeringState == STST_RUN) {
CM_DRIVE_POWER(&eKart.torque);
}
//}
}
if (ev->id == evDRpollSpeed) {

5
306-controller_interface.X/app/factory/factory.c
View File

@@ -105,8 +105,8 @@ void Factory_build() {
DRIVE_onRun(drive(), LED_on, l2());
DRIVE_onDead(drive(), LED_off, l2());
STEERING_onRun(drive(), LED_on, l3());
STEERING_onDead(drive(), LED_off, l3());
STEERING_onRun(steering(), LED_on, l3());
STEERING_onDead(steering(), LED_off, l3());
}
@@ -118,6 +118,7 @@ void Factory_start() {
STEERING_startBehaviour(steering());
ALIVE_startBehaviourSender(ALcontroller());
ALIVE_startBehaviourChecker(ALjoy());
ALIVE_emitBorn(ALjoy(), 100, 0);
ALIVE_emitReady(ALjoy(), 200, 0);