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jp7g21
duck
Commits
6d64383d
Commit
6d64383d
authored
3 years ago
by
Xoaquin Castrelo
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Added support for velocity control.
parent
814c10e4
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Changes
1
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1 changed file
emb/state-controller.cpp
+44
-4
44 additions, 4 deletions
emb/state-controller.cpp
with
44 additions
and
4 deletions
emb/state-controller.cpp
+
44
−
4
View file @
6d64383d
...
...
@@ -6,19 +6,39 @@
enum
State
{
STATE_
DELAY
,
STATE_
READ
Y
STATE_
READY
=
0
,
STATE_
DELA
Y
};
static
State
state
=
STATE_READY
;
static
uint32_t
delayEnd
=
0
;
static
int16_t
servoVelocities
[
NUM_SERVOS
];
static
uint32_t
velocitiesEndMillis
[
NUM_SERVOS
];
static
int16_t
startAngles
[
NUM_SERVOS
];
static
uint32_t
startMillis
[
NUM_SERVOS
];
void
parseCommand
(
command
*
comm
)
{
uint32_t
currentMillis
=
getCurrentMillis
();
switch
(
comm
->
comm_ch
)
{
case
's'
:
if
(
0
<=
comm
->
arg
[
0
]
-
1
&&
comm
->
arg
[
0
]
-
1
<
NUM_SERVOS
)
{
setServoAngle
(
comm
->
arg
[
0
]
-
1
,
comm
->
arg
[
1
]
*
60
);
updateServos
();
servoVelocities
[
comm
->
arg
[
0
]
-
1
]
=
0
;
}
break
;
case
'v'
:
if
(
0
<=
comm
->
arg
[
0
]
-
1
&&
comm
->
arg
[
0
]
-
1
<
NUM_SERVOS
)
{
servoVelocities
[
comm
->
arg
[
0
]
-
1
]
=
comm
->
arg
[
1
];
velocitiesEndMillis
[
comm
->
arg
[
0
]
-
1
]
=
currentMillis
+
comm
->
arg
[
2
];
startAngles
[
comm
->
arg
[
0
]
-
1
]
=
getServoAngle
(
comm
->
arg
[
0
]
-
1
);
startMillis
[
comm
->
arg
[
0
]
-
1
]
=
currentMillis
;
}
break
;
case
'd'
:
delayEnd
=
getCurrentMillis
()
+
comm
->
arg
[
0
];
...
...
@@ -29,6 +49,8 @@ void parseCommand(command *comm)
void
updateState
()
{
uint32_t
currentMillis
=
getCurrentMillis
();
switch
(
state
)
{
case
STATE_READY
:
...
...
@@ -44,11 +66,29 @@ void updateState()
break
;
}
case
STATE_DELAY
:
if
(
getC
urrentMillis
()
>
delayEnd
)
if
(
c
urrentMillis
>
delayEnd
)
state
=
STATE_READY
;
break
;
}
for
(
uint8_t
i
=
0
;
i
<
NUM_SERVOS
;
i
++
)
{
if
(
servoVelocities
[
i
]
!=
0
)
{
if
(
currentMillis
<
velocitiesEndMillis
[
i
])
{
int16_t
newAngle
=
startAngles
[
i
]
+
(
int32_t
)
servoVelocities
[
i
]
*
60
*
(
int32_t
)
(
currentMillis
-
startMillis
[
i
])
/
1000
;
setServoAngle
(
i
,
newAngle
);
}
else
{
setServoAngle
(
i
,
startAngles
[
i
]
+
(
int32_t
)
servoVelocities
[
i
]
*
60
*
(
int32_t
)
(
velocitiesEndMillis
[
i
]
-
startMillis
[
i
])
/
1000
);
servoVelocities
[
i
]
=
0
;
}
}
}
updateServos
();
}
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