From b1087a481e1cfea468623136a4915748da9fb1dd Mon Sep 17 00:00:00 2001
From: Arthur Van Betsbrugge <avbetsbr@gmail.com>
Date: Tue, 16 Mar 2021 17:28:53 -0400
Subject: [PATCH] Simplification du callback handler des moteurs.
---
Src/motors.c | 44 +++++++++++++++++++-------------------------
1 file changed, 19 insertions(+), 25 deletions(-)
diff --git a/Src/motors.c b/Src/motors.c
index 0ad2e46..971082d 100644
--- a/Src/motors.c
+++ b/Src/motors.c
@@ -58,19 +58,12 @@ void can_send_command(){
void can_motors_callback_handler(int16_t rx_id, uint8_t* rx_buff){
for(int j = 0; j < MAX_MOTORS ; j++){
if(rx_id == motors[j].can_rx_id){
- switch(motors[j].type){
- case GM6020:
- //Si c'est le premier paquet, aller le lire et initialiser la tourelle
- if(motors[j].signOfLife_tick == 0) {
+ //Si c'est le premier paquet, aller le lire et initialiser la tourelle
+ if(motors[j].type == GM6020 && motors[j].signOfLife_tick == 0) {
fill_motor_data(&motors[j], rx_buff);
init_tourelle_data(&motors[j]);
- break;
- }
- case M3508:
- case M2006:
- fill_motor_data(&motors[j], rx_buff);
- break;
}
+ fill_motor_data(&motors[j], rx_buff);
return;
}
}
@@ -98,23 +91,24 @@ void fill_motor_data (motor_t* motor, uint8_t* rx_buff){
/* Modifie la consigne tout en vérifiant les limites de postion */
void add_consigne_position(motor_t* motor, float value, float coeff){
+
//S'assure que le moteur répond avant d'envoyer des consignes
- if (motor->signOfLife_tick != 0 && HAL_GetTick() - motor->signOfLife_tick < 100){
- double sensitivity_deadzone;
- if(receiver_RadioController.keyboard_mode){
- sensitivity_deadzone = pilote.sensitivity_mouse_deadzone;
- }else{
- sensitivity_deadzone = pilote.sensitivity_RC_deadzone;
- }
- if(value > -sensitivity_deadzone && value < sensitivity_deadzone) value = 0;
-
- float consigne_position = motor->consigne + (motor->direction * value * coeff);
- if(consigne_position > 360) consigne_position -= (float) 360.0;
- if(consigne_position < 0) consigne_position += (float) 360.0;
- if(motor->MAX_POSITION > 0 && consigne_position > motor->MAX_POSITION) consigne_position = motor->MAX_POSITION;
- if(motor->MIN_POSITION > 0 && consigne_position < motor->MIN_POSITION) consigne_position = motor->MIN_POSITION;
- motor->consigne = consigne_position;
+ if (motor->signOfLife_tick != 0 && HAL_GetTick() - motor->signOfLife_tick < 100) return;
+
+ double sensitivity_deadzone;
+ if(receiver_RadioController.keyboard_mode){
+ sensitivity_deadzone = pilote.sensitivity_mouse_deadzone;
+ }else{
+ sensitivity_deadzone = pilote.sensitivity_RC_deadzone;
}
+ if(value > -sensitivity_deadzone && value < sensitivity_deadzone) value = 0;
+
+ float consigne_position = motor->consigne + (motor->direction * value * coeff);
+ if(consigne_position > 360) consigne_position -= (float) 360.0;
+ if(consigne_position < 0) consigne_position += (float) 360.0;
+ if(motor->MAX_POSITION > 0 && consigne_position > motor->MAX_POSITION) consigne_position = motor->MAX_POSITION;
+ if(motor->MIN_POSITION > 0 && consigne_position < motor->MIN_POSITION) consigne_position = motor->MIN_POSITION;
+ motor->consigne = consigne_position;
}
/* Initialise le CAN 1 */
--
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