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Add chipper testing to automated robot test #61

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Add chipper testing to automated robot test #61

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b53924b
Add chipper testing to automated robot test
supertom01 Nov 18, 2022
642c321
Make testing window bigger, to fit the chipping testing in a bit better
supertom01 Jul 8, 2023
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15 changes: 10 additions & 5 deletions Core/Src/robot.c
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Original file line number Diff line number Diff line change
Expand Up @@ -272,24 +272,28 @@ bool updateTestCommand(REM_RobotCommand* rc, uint32_t time){
// Don't do anything for the first second
if(time < 1000) return true;
// Don't do anything after 11 seconds
if(11000 < time) return false;
// These two give a test window of 10 seconds.
if(17000 < time) return false;
// These two give a test window of 16 seconds.

// Normalize time to 0 for easier calculations
time -= 1000;

// Split up testing window into blocks of two seconds
float period_fraction = (time%2000)/2000.;
// Split up testing window into blocks of four seconds
float period_fraction = (time%4000)/4000.;

// Rotate around, slowly
rc->angularVelocity = 6 * sin(period_fraction * 2 * M_PI);
// Turn on dribbler
rc->dribbler = period_fraction;
// Kick a little every block
if(0.95 < period_fraction){
if(0.45 < period_fraction && 0.65 > period_fraction){
rc->doKick = true;
rc->kickChipPower = 1;
rc->doForce = true;
} else if (0.95 < period_fraction) {
rc->doChip = true;
rc->kickChipPower = 1;
rc->doForce = true;
}

return true;
Expand Down Expand Up @@ -781,6 +785,7 @@ void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef* hspi){
/* Callback for when bytes have been received via the UART */
void HAL_UART_RxCpltCallback(UART_HandleTypeDef *huart){
if(huart->Instance == UART_PC->Instance){
toggle_Pin(LED6_pin);
REM_UARTCallback(huart);
}
}
Expand Down