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wall alignement

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This commit is contained in:
acki
2025-11-17 19:49:24 +01:00
parent 327ec5c183
commit 25892f0b71
5 changed files with 128 additions and 4 deletions
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41
Core/Src/commSTM.cpp
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@@ -122,6 +122,12 @@ void USB_Comm_Process(void) {
snprintf(response, sizeof(response), "SET;MOTOR;%.2f,%.2f\n", l, r);
USB_Comm_Send(response);
}
else if (strcmp(token, "ACTION") == 0) {
uint8_t action = Comm_GetAction();
char response[64];
snprintf(response, sizeof(response), "SET;ACTION;%d\n", action);
USB_Comm_Send(response);
}
else if (strcmp(token, "PRECISE") == 0) {
token = strtok(NULL, ";");
@@ -159,7 +165,7 @@ void USB_Comm_Process(void) {
token = strtok(NULL, ";");
if (token) {
if (strcmp(token, "NOT") == 0) {
if (strcmp(token, "NO") == 0) {
token = strtok(NULL, ";");
if (strcmp(token, "MOVE") == 0) {
uint32_t time = Comm_GetNotMoveTime();
@@ -284,6 +290,37 @@ void USB_Comm_Process(void) {
snprintf(response, sizeof(response), "OK;FREQUENCY;%ld\n", freq);
USB_Comm_Send(response);
}
else if (strcmp(token, "ACTION") == 0) {
uint8_t action = atoi(strtok(NULL, ";"));
Comm_SetAction(action);
char response[64];
snprintf(response, sizeof(response), "OK;ACTION;%d\n", action);
USB_Comm_Send(response);
}
else if (strcmp(token, "ALIGNEMENT") == 0) {
token = strtok(NULL, ";");
uint8_t action;
if (strcmp(token, "LEFT") == 0) {
action = 1;
}
else if (strcmp(token, "TOP") == 0) {
action = 2;
}
else if (strcmp(token, "RIGHT") == 0) {
action = 3;
}
else if (strcmp(token, "BOTTOM") == 0) {
action = 4;
}
Comm_SetAlignement(action);
char response[64];
snprintf(response, sizeof(response), "OK;ACTION;%d\n", action);
USB_Comm_Send(response);
}
else if (strcmp(token, "PRECISE") == 0) {
token = strtok(NULL, ";");
@@ -325,7 +362,7 @@ void USB_Comm_Process(void) {
token = strtok(NULL, ";");
if (token) {
if (strcmp(token, "NOT") == 0) {
if (strcmp(token, "NO") == 0) {
token = strtok(NULL, ";");
if (strcmp(token, "MOVE") == 0) {
token = strtok(NULL, ";");