Klagarge/SummerSchool2-Controller
Klagarge/SummerSchool2-Controller
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check if steering ready for driving

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This commit is contained in:
Rémi Heredero 2023-09-04 15:22:45 +02:00
parent 447c9d8801
commit 0f7f078440
2 changed files with 9 additions and 3 deletions
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10
306-controller_interface.X/app/drive.c
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@ -8,6 +8,8 @@
#include "drive.h" #include "drive.h"
#include "car.h" #include "car.h"
#include "can_message.h" #include "can_message.h"
#include "steering.h"
#include "factory/factory.h"
void DRIVE_init(DRIVE* me){ void DRIVE_init(DRIVE* me){
me->state = STDR_INIT; me->state = STDR_INIT;
@ -22,7 +24,7 @@ void DRIVE_init(DRIVE* me){
} }
void DRIVE_startBehaviour(DRIVE* me){ void DRIVE_startBehaviour(DRIVE* me){
POST(me, &DRIVE_processEvent, evDRinit, 0, 0); POST(me, &DRIVE_processEvent, evDRinit, 100, 0);
} }
bool DRIVE_processEvent(Event* ev) { bool DRIVE_processEvent(Event* ev) {
@ -31,6 +33,8 @@ bool DRIVE_processEvent(Event* ev) {
DRIVE_STATES oldState = me->state; DRIVE_STATES oldState = me->state;
evIDT evid = Event_getId(ev); evIDT evid = Event_getId(ev);
uint64_t data = Event_getData(ev); uint64_t data = Event_getData(ev);
STEERING_STATES steeringState = steering()->state;
switch (me->state) { // onState switch (me->state) { // onState
case STDR_INIT: case STDR_INIT:
@ -55,7 +59,9 @@ bool DRIVE_processEvent(Event* ev) {
} }
if (ev->id == evDRpollTorque) { if (ev->id == evDRpollTorque) {
CM_DRIVE_POWER(&eKart.torque); if(steeringState == STST_RUN) {
CM_DRIVE_POWER(&eKart.torque);
}
} }
if (ev->id == evDRpollSpeed) { if (ev->id == evDRpollSpeed) {

2
306-controller_interface.X/app/drive.h
View File

@ -11,7 +11,7 @@
#include "../middleware/alive.h" #include "../middleware/alive.h"
typedef enum { typedef enum {
STDR_INIT, STDR_INIT = 100,
STDR_WAIT, STDR_WAIT,
STDR_RUN, STDR_RUN,
STDR_DEAD STDR_DEAD