From b58e073c4e0805ca4714bf81c17721d951fcdb55 Mon Sep 17 00:00:00 2001
From: sfaguet <sfaguet@centumadetel.com>
Date: Sun, 14 Feb 2021 19:52:07 -0500
Subject: [PATCH] Adaptation pour plus de puissance sur le chassis
---
MDK-ARM/RobotMaster_allRobots.uvoptx | 2 +-
Src/BoardA_handle.c | 5 +++--
Src/canon.c | 2 ++
Src/pilotes.c | 6 +++---
4 files changed, 9 insertions(+), 6 deletions(-)
diff --git a/MDK-ARM/RobotMaster_allRobots.uvoptx b/MDK-ARM/RobotMaster_allRobots.uvoptx
index f61020c..04ac741 100644
--- a/MDK-ARM/RobotMaster_allRobots.uvoptx
+++ b/MDK-ARM/RobotMaster_allRobots.uvoptx
@@ -725,7 +725,7 @@
<GroupNumber>7</GroupNumber>
<FileNumber>37</FileNumber>
<FileType>1</FileType>
- <tvExp>0</tvExp>
+ <tvExp>1</tvExp>
<tvExpOptDlg>0</tvExpOptDlg>
<bDave2>0</bDave2>
<PathWithFileName>..\Src\receiver_RadioController.c</PathWithFileName>
diff --git a/Src/BoardA_handle.c b/Src/BoardA_handle.c
index ffacb2b..22e5566 100644
--- a/Src/BoardA_handle.c
+++ b/Src/BoardA_handle.c
@@ -105,13 +105,14 @@ void uart_debug(){
return;
}
tickstart = HAL_GetTick();
- snprintf(buff2, 1000, "Keyboard Z%i S%i Q%i D%i\r\n", receiver_RadioController.data.kb.bit.Z, receiver_RadioController.data.kb.bit.S, receiver_RadioController.data.kb.bit.Q, receiver_RadioController.data.kb.bit.D);
+ snprintf(buff2, 1000, "Mouse Z %i\r\n", receiver_RadioController.data.mouse.z);
HAL_UART_Transmit_DMA(&huart8, (uint8_t*)buff2, strlen(buff2));
/*
uart_debug_command("[2J"); //Clear entire screen
uart_debug_printf("\r\nTOURELLE YAW\r\n");
uart_debug_printf("\tAngle: %u (%x)\r\n", motors[TOURELLE_YAW].info.angle, motors[TOURELLE_YAW].info.angle);
- uart_debug_printf("\tSpeed: %d\r\n", motors[TOURELLE_YAW].info.speed);
+ uart_debug_
+ printf("\tSpeed: %d\r\n", motors[TOURELLE_YAW].info.speed);
uart_debug_printf("\tTorque: %d\r\n", motors[TOURELLE_YAW].info.torque);
uart_debug_printf("\tTemperature: %d\r\n", motors[TOURELLE_YAW].info.temp);
uart_debug_printf("\tCommand: %f\r\n", motors[TOURELLE_YAW].command);*/
diff --git a/Src/canon.c b/Src/canon.c
index f4dc583..63cb3f4 100644
--- a/Src/canon.c
+++ b/Src/canon.c
@@ -27,6 +27,8 @@ void canon_shoot(float speed, float rate){
PWM_SetAllDuty(&htim1, speed, speed); //Démarage des snails
shoot_rate = rate; //Sauvegarde de la cadance de tir
+
+ motors[FEEDER].consigne = shoot_rate; //Démarage du feeder
}
//Prise en compte des nouvelles valeurs que si nous sommes entrain de tirer
diff --git a/Src/pilotes.c b/Src/pilotes.c
index 7d00eec..b6703a2 100644
--- a/Src/pilotes.c
+++ b/Src/pilotes.c
@@ -22,9 +22,9 @@ void piloteInit(uint8_t pilote_id){
pilote.sensitivity_chassis_RC_Vy = 10;
pilote.sensitivity_chassis_RC_W = 3;
- pilote.sensitivity_chassis_keyboard_Vx = 500;
- pilote.sensitivity_chassis_keyboard_Vy = 500;
- pilote.sensitivity_chassis_mouse_W = 2;
+ pilote.sensitivity_chassis_keyboard_Vx = 1000;
+ pilote.sensitivity_chassis_keyboard_Vy = 1000;
+ pilote.sensitivity_chassis_mouse_W = 5;
switch(pilote_id){ //Configuration personnalisée
/* Antonin */
--
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