Klagarge/SummerSchool2-Controller
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fix somes values

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This commit is contained in:
Rémi Heredero
2023-09-05 17:43:12 +02:00
parent e0b94c5250
commit 8cec88d658
5 changed files with 20 additions and 14 deletions
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11
306-controller_interface.X/app/can_message.c
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@@ -97,7 +97,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
// TODO set alive times // TODO set alive times
// start alives // start alives
CM_DISPLAY_SETUP(NULL); CM_DISPLAY_SETUP(NULL);
CM_STEERING_SETUP(&ALWAYSFALSE); CM_STEERING_SETUP(&ALWAYS0);
} }
@@ -161,6 +161,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
// posX posY button - // posX posY button -
calcTorque(incomeData.separate.byte1); calcTorque(incomeData.separate.byte1);
calcPosition(incomeData.separate.byte0); calcPosition(incomeData.separate.byte0);
STEERING_emitPollDir(steering());
} }
@@ -225,6 +226,7 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
if(idMsg == 0x1) { // STEERING_GET_CENTER if(idMsg == 0x1) { // STEERING_GET_CENTER
// valHH valH valL valLL // valHH valH valL valLL
eKart.center = revertData.full; eKart.center = revertData.full;
ALIVE_emitReady(&steering()->myChecker, 0, 0);
} }
if(idMsg == 0x2) { // STEERING_GET_POSITION if(idMsg == 0x2) { // STEERING_GET_POSITION
@@ -232,11 +234,6 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
} }
if(idMsg == 0x3) { // STEERING_READY
// - - - -
}
if(idMsg == 0xF) { // STEERING_ALIVE if(idMsg == 0xF) { // STEERING_ALIVE
// statusH statusL - - // statusH statusL - -
ALIVE_ISALIVE(&steering()->myChecker); ALIVE_ISALIVE(&steering()->myChecker);
@@ -340,7 +337,7 @@ void CM_STEERING_SETUP(void* p) {
// reset/init homing setCenter aliveTime // reset/init homing setCenter aliveTime
// TODO not working have to fix it // TODO not working have to fix it
BYTES_4 tmpData; BYTES_4 tmpData;
uint8_t choice = (uint8_t) p; uint8_t choice = *(uint8_t*) p;
switch (choice) { switch (choice) {
case 1: case 1:
tmpData.separate.byte0 = 1; tmpData.separate.byte0 = 1;

2
306-controller_interface.X/app/drive.c
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@@ -24,7 +24,7 @@ void DRIVE_init(DRIVE* me){
} }
void DRIVE_startBehaviour(DRIVE* me){ void DRIVE_startBehaviour(DRIVE* me){
POST(me, &DRIVE_processEvent, evDRinit, 100, 0); POST(me, &DRIVE_processEvent, evDRinit, 3000, 0);
} }
bool DRIVE_processEvent(Event* ev) { bool DRIVE_processEvent(Event* ev) {

4
306-controller_interface.X/app/eeprom.c
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@@ -24,10 +24,10 @@ void MEM_init(){
uint8_t check = MEM_read_1_byte(0x0); uint8_t check = MEM_read_1_byte(0x0);
if(check != 0x42){ if(check != 0x42){
KART_CST.CONTROL_STEERING_MODE = 0; KART_CST.CONTROL_STEERING_MODE = 0;
KART_CST.CONTROL_ALIVE_TIME = 50; KART_CST.CONTROL_ALIVE_TIME = 250; // should be 50
KART_CST.CONTROL_SPEED_FACTOR = 111111; // 111'111 KART_CST.CONTROL_SPEED_FACTOR = 111111; // 111'111
KART_CST.CONTROL_POWER_FACTOR = 10000; // 10'000 KART_CST.CONTROL_POWER_FACTOR = 10000; // 10'000
KART_CST.CONTROL_STEERING_FACTOR = 400000000; // 400'000'000 KART_CST.CONTROL_STEERING_FACTOR = 5600240; // 5'600'024
KART_CST.CONTROL_MAX_SPEED_FW = 50; KART_CST.CONTROL_MAX_SPEED_FW = 50;
KART_CST.CONTROL_MAX_SPEED_BW = 25; KART_CST.CONTROL_MAX_SPEED_BW = 25;

4
306-controller_interface.X/app/kartculator.c
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@@ -18,6 +18,10 @@ void calcTorque(uint8_t joy_pos) {
void calcPosition(uint8_t joy_pos){ void calcPosition(uint8_t joy_pos){
int32_t calcPosition; int32_t calcPosition;
calcPosition = (int8_t) joy_pos; calcPosition = (int8_t) joy_pos;
calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR;
calcPosition /= 1000;
calcPosition += eKart.center;
eKart.position = (uint32_t) calcPosition;
} }
void calcSpeed(int32_t rpm) { void calcSpeed(int32_t rpm) {

13
306-controller_interface.X/app/steering.c
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@@ -10,20 +10,26 @@
#include "car.h" #include "car.h"
//#include "drive.h" //#include "drive.h"
void alive_born(void* p){
STEERING* me = (STEERING*) p;
STEERING_emitResurrect(me);
//CM_STEERING_SETUP(&ALWAYS3);
}
void STEERING_init(STEERING* me){ void STEERING_init(STEERING* me){
me->state = STST_INIT; me->state = STST_INIT;
ALIVE_init(&me->myChecker, 3); ALIVE_init(&me->myChecker, 3);
ALIVE_onSetup(&me->myChecker, CM_STEERING_SETUP, &ALWAYSFALSE); ALIVE_onSetup(&me->myChecker, CM_STEERING_SETUP, &ALWAYS2);
ALIVE_onWait(&me->myChecker, STEERING_emitStart, me); ALIVE_onWait(&me->myChecker, STEERING_emitStart, me);
ALIVE_onDead(&me->myChecker, STEERING_emitStop, me); ALIVE_onDead(&me->myChecker, STEERING_emitStop, me);
ALIVE_onBorn(&me->myChecker, STEERING_emitResurrect, me); ALIVE_onBorn(&me->myChecker, alive_born, me);
me->wait.f = NULL; me->wait.f = NULL;
me->run.f = NULL; me->run.f = NULL;
me->dead.f = NULL; me->dead.f = NULL;
} }
void STEERING_startBehaviour(STEERING* me){ void STEERING_startBehaviour(STEERING* me){
POST(me, &STEERING_processEvent, evSTinit, 100, 0); POST(me, &STEERING_processEvent, evSTinit, 3000, 0);
} }
bool STEERING_processEvent(Event* ev) { bool STEERING_processEvent(Event* ev) {
@@ -94,7 +100,6 @@ bool STEERING_processEvent(Event* ev) {
} }
ALIVE_setAliveTime(&me->myChecker, KART_CST.STEERING_ALIVE_TIME); ALIVE_setAliveTime(&me->myChecker, KART_CST.STEERING_ALIVE_TIME);
ALIVE_emitBorn(&me->myChecker, 500, 0); ALIVE_emitBorn(&me->myChecker, 500, 0);
ALIVE_emitReady(&me->myChecker, 1000, 0);
break; break;
case STST_RUN: case STST_RUN: