ben's winter break

RoboMaster-Club · Jan 4, 2025 · 4fde0c7 · 4fde0c7
1 parent 1740eea
commit 4fde0c7
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Showing 3 changed files with 127 additions and 41 deletions.
diff --git a/.vscode/launch.json b/.vscode/launch.json
@@ -1,45 +1,60 @@
 {
-    "version": "0.2.0",
-    "configurations": [
+  "version": "0.2.0",
+  "configurations": [
+    {
+      "name": "CMSIS-DAP",
+      "cwd": "${workspaceRoot}",
+      "executable": "${workspaceRoot}${/}build${/}control-template.elf",
+      "request": "launch",
+      "type": "cortex-debug",
+      "svdFile": "STM32F407.svd",
+      "servertype": "openocd",
+      "configFiles": [
+        "${workspaceRoot}${/}control-base${/}config${/}openocd_cmsis_dap.cfg"
+      ],
+      "rtos": "FreeRTOS",
+      "liveWatch": {
+        "enabled": true,
+        "samplesPerSecond": 4
+      },
+      "preLaunchTask": "build"
+    },
+    {
+      "name": "ST-LINK",
+      "cwd": "${workspaceRoot}",
+      "executable": "${workspaceRoot}${/}build${/}control-template.elf",
+      "request": "launch",
+      "type": "cortex-debug",
+      "svdFile": "STM32F407.svd",
+      "servertype": "openocd",
+      "configFiles": [
+        "${workspaceRoot}${/}control-base${/}config${/}openocd_stlink.cfg"
+      ],
+      "rtos": "FreeRTOS",
+      "liveWatch": {
+        "enabled": true,
+        "samplesPerSecond": 4
+      },
+      "preLaunchTask": "build"
+    },
+    {
+      "name": "C/C++ Runner: Debug Session",
+      "type": "cppdbg",
+      "request": "launch",
+      "args": [],
+      "stopAtEntry": false,
+      "externalConsole": true,
+      "cwd": "c:/Users/wehne/Documents/RoboMasters/Sentry/app/src",
+      "program": "c:/Users/wehne/Documents/RoboMasters/Sentry/app/src/build/Debug/outDebug",
+      "MIMode": "gdb",
+      "miDebuggerPath": "gdb",
+      "setupCommands": [
         {
-            "name": "CMSIS-DAP",
-            "cwd": "${workspaceRoot}",
-            "executable": "${workspaceRoot}${/}build${/}control-template.elf",
-            "request": "launch",
-            "type": "cortex-debug",
-            "svdFile": "STM32F407.svd",
-            "servertype": "openocd", //GDB server
-            "configFiles": [
-                "${workspaceRoot}${/}control-base${/}config${/}openocd_cmsis_dap.cfg" // config
-            ],
-            //"runToEntryPoint": "main", // stop at main
-            //"showDevDebugOutput": "raw", // enable debug output
-            "rtos": "FreeRTOS",
-            "liveWatch": {
-                "enabled": true,
-                "samplesPerSecond": 4
-            },
-            "preLaunchTask": "build" // build before debug
-        },
-        {
-            "name": "ST-LINK",
-            "cwd": "${workspaceRoot}",
-            "executable": "${workspaceRoot}${/}build${/}control-template.elf",
-            "request": "launch",
-            "type": "cortex-debug",
-            "svdFile": "STM32F407.svd",
-            "servertype": "openocd", //GDB server
-            "configFiles": [
-                "${workspaceRoot}${/}control-base${/}config${/}openocd_stlink.cfg" // config
-            ],
-            //"runToEntryPoint": "main", // stop at main
-            //"showDevDebugOutput": "raw", // enable debug output
-            "rtos": "FreeRTOS",
-            "liveWatch": {
-                "enabled": true,
-                "samplesPerSecond": 4
-            },
-            "preLaunchTask": "build" // build before debug
+          "description": "Enable pretty-printing for gdb",
+          "text": "-enable-pretty-printing",
+          "ignoreFailures": true
         }
-    ]
+      ]
+    }
+  ]
 }
diff --git a/app/inc/launch_task.h b/app/inc/launch_task.h
@@ -3,5 +3,6 @@
 
 void Launch_Task_Init(void);
 void Launch_Ctrl_Loop(void);
+void Launch_Speed_Test(void);
 
 #endif // LAUNCH_TASK_H
diff --git a/app/src/launch_task.c b/app/src/launch_task.c
@@ -7,15 +7,85 @@
 #include "user_math.h"
 #include "referee_system.h"
 
+#include <time.h>
+
 extern Robot_State_t g_robot_state;
 extern Remote_t g_remote;
 
+DJI_Motor_Handle_t *leftFlywheel;
+DJI_Motor_Handle_t *rightFlywheel;
+
+clock_t lastHeatTick = 0;
+clock_t currentTime = 0;
+float barrelHeat = 0;
+int maxHeat = 0;
+int projectileHeat = 10;
+float coolingPerTick = 0;
+float timeSinceCheck = 0;
+int botLvl = 1;
+
 void Launch_Task_Init()
 {
     // Init Launch Hardware
+    Motor_Config_t flywheel_config = {
+        .can_bus = 1,
+        .speed_controller_id = 0,
+        .offset = 0,
+        .control_mode = VELOCITY_CONTROL,
+        .motor_reversal = MOTOR_REVERSAL_NORMAL,
+        .velocity_pid = {
+            .kp = 500.0f,
+            .ki = 0.0f,
+            .kd = 0.0f,
+            .output_limit = M3508_MAX_CURRENT
+
+        }
+    };
+
+    flywheel_config.speed_controller_id = 1;
+    leftFlywheel = DJI_Motor_Init(&flywheel_config, M3508);
+    flywheel_config.speed_controller_id = 2;
+    rightFlywheel = DJI_Motor_Init(&flywheel_config, M3508);
+
+    time(&lastHeatTick);
+
 }
 
 void Launch_Ctrl_Loop()
 {
     // Control loop for launch
+
+    // heat is checked every 1/10 a second, one "tick"
+    maxHeat = 170 + 30*botLvl;
+    coolingPerTick = (32 + 8*botLvl) / 10;
+    time(&currentTime);
+
+    if (currentTime-lastHeatTick > .1f ){
+        time(&lastHeatTick);
+
+        if (barrelHeat >= coolingPerTick){
+            barrelHeat - coolingPerTick;
+        }
+    }
+
 }
+
+void Launch_Speed_Test(){
+    float speeds[20] = {}; 
+    int vel = 100;
+    for (int i = 0; i < 8; i++){
+    DJI_Motor_Set_Velocity(leftFlywheel,vel);
+    DJI_Motor_Set_Velocity(rightFlywheel,vel);
+    while (DJI_Motor_Get_Velocity(leftFlywheel) < vel && DJI_Motor_Get_Velocity(rightFlywheel) < vel)
+    {
+        //wait
+    }
+
+    //fire();
+    speeds[i] = Referee_Robot_State.Shooting_Speed;
+
+    vel += 50;
+
+    }
+    printf(speeds);
+}