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Improves Dribbler Test Image #130

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Improves Dribbler Test Image #130

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38 changes: 35 additions & 3 deletions control-board/src/bin/hwtest-drib/main.rs
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Original file line number Diff line number Diff line change
@@ -1,9 +1,9 @@
#![no_std]
#![no_main]

Check warning on line 3 in control-board/src/bin/hwtest-drib/main.rs

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Diff in /home/runner/work/firmware/firmware/control-board/src/bin/hwtest-drib/main.rs
use ateam_common_packets::{bindings::BasicControl, bindings::KickRequest, radio::DataPacket};
use embassy_executor::InterruptExecutor;
use embassy_stm32::{interrupt, pac::Interrupt};
use embassy_stm32::{gpio::{Input, Pull}, interrupt, pac::Interrupt};
use embassy_sync::pubsub::PubSubChannel;

use defmt_rtt as _;
Expand Down Expand Up @@ -74,6 +74,11 @@
// start tasks //
///////////////////

// let pg10_read = Input::new(p.PG10, Pull::Up);
// let pg11_read = Input::new(p.PG11, Pull::Up);
// let pd0_read = Input::new(p.PD0, Pull::Up);
// let pd1_read = Input::new(p.PD1, Pull::Up);

create_io_task!(main_spawner, robot_state, p);

create_kicker_task!(
Expand All @@ -86,7 +91,34 @@
);

loop {
Timer::after_millis(100).await;
Timer::after_millis(10).await;

if robot_state.hw_init_state_valid() {
break;
}

defmt::info!("waiting for hw init state to be valid");
}

loop {
Timer::after_millis(10).await;

if robot_state.get_hw_robot_id() == 0 {
break;
}

defmt::info!("wait for user to select robot id 0");
}

loop {
Timer::after_millis(10).await;

let mut motor_speed_ind = robot_state.get_hw_robot_id();
if motor_speed_ind > 8 {
motor_speed_ind = 16 - motor_speed_ind;
}

let drib_speed = motor_speed_ind as f32 * 75.0;

test_command_publisher
.publish(DataPacket::BasicControl(BasicControl {
Expand All @@ -96,7 +128,7 @@
vel_y_linear: 0.0,
vel_z_angular: 0.0,
kick_vel: 0.0,
dribbler_speed: 50.0,
dribbler_speed: drib_speed,
kick_request: KickRequest::KR_DISABLE,
}))
.await;
Expand Down
7 changes: 5 additions & 2 deletions control-board/src/drivers/kicker.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -9,7 +9,7 @@ use embassy_stm32::{
};
use embassy_time::{with_timeout, Duration, Timer};

use ateam_common_packets::bindings::{KickerControl, KickerTelemetry};
use ateam_common_packets::bindings::{KickRequest::KR_DISABLE, KickerControl, KickerTelemetry};

use crate::{image_hash, DEBUG_KICKER_UART_QUEUES};

Expand Down Expand Up @@ -49,11 +49,14 @@ impl<
>,
firmware_image: &'a [u8],
) -> Kicker<'a, LEN_RX, LEN_TX, DEPTH_RX, DEPTH_TX> {
let mut command_state: KickerControl = Default::default();
command_state.kick_request = KR_DISABLE;

Self {
stm32_uart_interface: stm32_interface,
firmware_image,

command_state: Default::default(),
command_state: command_state,
telemetry_state: Default::default(),

telemetry_enabled: false,
Expand Down
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