ank/cruisecontrol
1
Fork 0
Code Issues Activity

don't wait to stop charging, debouncing handled by user

Browse source
This commit is contained in:
Andy Killorin 2025-01-19 04:50:44 -05:00
parent 5953f2c584
commit 9b1b289b92
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 11 additions and 16 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

27
controller/src/main.rs
View file

@ -88,7 +88,7 @@ async fn main(spawner: Spawner) {
let driver = Driver::new(p.USB, Irqs); let driver = Driver::new(p.USB, Irqs);
spawner.spawn(logger_task(driver)).unwrap(); spawner.spawn(logger_task(driver)).unwrap();
let mut limit_switch = Input::new(p.PIN_22, Pull::Up); let limit_switch = Input::new(p.PIN_22, Pull::Up);
let mut d: pwm::Config = Default::default(); let mut d: pwm::Config = Default::default();
d.divider = 40.into(); d.divider = 40.into();
@ -247,8 +247,8 @@ async fn main(spawner: Spawner) {
info!("left to {}", clamp(forward+right, -1., 1.)); info!("left to {}", clamp(forward+right, -1., 1.));
info!("right to {}", clamp(forward-right, -1., 1.)); info!("right to {}", clamp(forward-right, -1., 1.));
c.compare_a = calc_speed(right + forward); c.compare_a = calc_speed(forward - right);
c.compare_b = calc_speed(right - forward); c.compare_b = calc_speed(forward + right);
drive_pwm.set_config(&c); drive_pwm.set_config(&c);
}, },
ControlPacket::Fire => { ControlPacket::Fire => {
@ -266,7 +266,7 @@ async fn main(spawner: Spawner) {
}, },
ControlPacket::Arm(enable) => { ControlPacket::Arm(enable) => {
if enable { if enable {
cam_state.replace(CamState::Charging(None)); cam_state.replace(CamState::Charging);
} else { } else {
cam_state.replace(CamState::Idle); cam_state.replace(CamState::Idle);
} }
@ -302,9 +302,10 @@ fn calc_speed(speed: f32) -> u16 {
(COUNTS_PER_MS * ms) as u16 (COUNTS_PER_MS * ms) as u16
} }
#[derive(Debug)]
enum CamState { enum CamState {
Override(f32), Override(f32),
Charging(Option<Instant>), Charging,
Charged, Charged,
Fire, Fire,
Idle, Idle,
@ -314,7 +315,7 @@ impl CamState {
fn to_telem(&self) -> common::CamState { fn to_telem(&self) -> common::CamState {
match self { match self {
Self::Override(_) | Self::Fire => common::CamState::Firing, Self::Override(_) | Self::Fire => common::CamState::Firing,
Self::Charging(_) => common::CamState::Charging, Self::Charging => common::CamState::Charging,
Self::Charged => common::CamState::Charged, Self::Charged => common::CamState::Charged,
Self::Idle => common::CamState::Idle, Self::Idle => common::CamState::Idle,
} }
@ -337,23 +338,17 @@ fn handle_cam(cam: &mut Pwm, state: &mut CamState, limit: &Input) {
CamState::Override(speed) => { CamState::Override(speed) => {
*speed *speed
}, },
CamState::Charging(mut charged) => { CamState::Charging => {
if limit.is_low() { if limit.is_low() {
let became_low = charged.get_or_insert_with(Instant::now); *state = CamState::Charged;
if became_low.elapsed().as_micros() > 1800 { 0.0
*state = CamState::Charged;
0.0
} else {
1.0
}
} else { } else {
charged = None;
1.0 1.0
} }
}, },
CamState::Fire => { CamState::Fire => {
if limit.is_high() { if limit.is_high() {
*state = CamState::Charging(None); *state = CamState::Charging;
} }
1.0 1.0
}, },