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can change a lot of things dynamically now

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This commit is contained in:
acki
2025-11-17 18:20:42 +01:00
parent 97076b13eb
commit 327ec5c183
6 changed files with 79 additions and 5 deletions
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4
.settings/language.settings.xml
View File

@@ -5,7 +5,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-871438226299096058" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1135061305286628675" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
@@ -16,7 +16,7 @@
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-871438226299096058" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-1135061305286628675" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>

6
Core/Inc/CommCallbacks.h
View File

@@ -25,6 +25,8 @@ float Comm_GetDistance(int sensorId);
void Comm_SetPWM(float left, float right);
void Comm_GetPWM(float &left, float &right);
void Comm_SetPublishFrequency(uint32_t frequencyPublish = 20);
void Comm_GetPublishFrequency(uint32_t &frequencyPublish);
@@ -41,6 +43,10 @@ void Comm_SetPrecisePos(float d);
void Comm_SetPrecisePosFinal(float d);
float Comm_GetNotMoveTime();
void Comm_SetNotMoveTime(float time);
#ifdef __cplusplus
}
#endif

6
Core/Inc/modelec.h
View File

@@ -51,9 +51,13 @@ public:
bool odo_active = false;
bool arrive = false;
uint32_t publishNotMoved = 0;
uint32_t notMovedMaxTime = 500;
bool no_move = false;
uint32_t lastTick = 0;
uint32_t publishLastTick = 0;
uint32_t frequencyPublish = 200;
uint32_t frequencyPublish = 100;
float preciseAngle = 0.017f;
float precisePosFinal = 0.01f;

14
Core/Src/CommCallbacks.cpp
View File

@@ -88,6 +88,12 @@ void Comm_SetPWM(float left, float right) {
bot.motor.rightTarget_PWM = right;
}
void Comm_GetPWM(float &left, float &right) {
left = bot.motor.leftCurrent_PWM;
right = bot.motor.rightCurrent_PWM;
}
void Comm_SetPublishFrequency(uint32_t frequencyPublish) {
bot.frequencyPublish = frequencyPublish;
}
@@ -119,3 +125,11 @@ void Comm_SetPrecisePos(float d) {
void Comm_SetPrecisePosFinal(float d) {
bot.precisePosFinal = d;
}
float Comm_GetNotMoveTime() {
return bot.notMovedMaxTime;
}
void Comm_SetNotMoveTime(float time) {
bot.notMovedMaxTime = time;
}

42
Core/Src/commSTM.cpp
View File

@@ -115,6 +115,13 @@ void USB_Comm_Process(void) {
snprintf(response, sizeof(response), "SET;FREQUENCY;%ld\n", freq);
USB_Comm_Send(response);
}
else if (strcmp(token, "MOTOR") == 0) {
float l, r;
Comm_GetPWM(l, r);
char response[64];
snprintf(response, sizeof(response), "SET;MOTOR;%.2f,%.2f\n", l, r);
USB_Comm_Send(response);
}
else if (strcmp(token, "PRECISE") == 0) {
token = strtok(NULL, ";");
@@ -148,6 +155,21 @@ void USB_Comm_Process(void) {
}
}
}
else if (strcmp(token, "DATA") == 0) {
token = strtok(NULL, ";");
if (token) {
if (strcmp(token, "NOT") == 0) {
token = strtok(NULL, ";");
if (strcmp(token, "MOVE") == 0) {
uint32_t time = Comm_GetNotMoveTime();
char response[64];
snprintf(response, sizeof(response), "SET;NOT;MOVE;%ld\n", time);
USB_Comm_Send(response);
}
}
}
}
else {
USB_Comm_Send("KO;UNKNOWN\n");
}
@@ -269,8 +291,6 @@ void USB_Comm_Process(void) {
USB_Comm_Send("KO;UNKNOWN;NEED_DATA");
}
else {
float d;
if (strcmp(token, "POS") == 0) {
token = strtok(NULL, ";");
@@ -301,6 +321,24 @@ void USB_Comm_Process(void) {
}
}
}
else if (strcmp(token, "DATA") == 0) {
token = strtok(NULL, ";");
if (token) {
if (strcmp(token, "NOT") == 0) {
token = strtok(NULL, ";");
if (strcmp(token, "MOVE") == 0) {
token = strtok(NULL, ";");
uint32_t time = strtoul(token, NULL, 10);
Comm_SetNotMoveTime(time);
char response[64];
snprintf(response, sizeof(response), "SET;NOT;MOVE;%ld\n", time);
USB_Comm_Send(response);
}
}
}
}
else {
char response[268];
snprintf(response, sizeof(response), "KO;UNKNOWN;%s\n", parse_buffer);

12
Core/Src/modelec.cpp
View File

@@ -59,6 +59,18 @@ void DiffBot::update(float dt) {
if (rightVel == 0 && leftVel == 0 && (motor.rightTarget_PWM != 0 || motor.leftTarget_PWM != 0)) {
// TODO add something when the robot is stuck on the wall so the motor value are >= 0 but the encoder value are = 0
if (!no_move) {
no_move = true;
publishNotMoved = HAL_GetTick();
}
else if (isDelayPassedFrom(notMovedMaxTime, publishNotMoved)) {
motor.stop(true);
}
} else if (no_move) {
no_move = false;
}
// update pos