fix for go to the kart

306-controller_interface.X/app/can_message.c

@@ -269,6 +269,11 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
                 
             }
             
+            if(idMsg == 0xE) { // DRIVE_BRAKE
+                //  status  -   -   -
+                eKart.brake = incomeData.separate.byte0;
+            }
+            
             if(idMsg == 0xF) { // STEERING_ALIVE
                 //  statusH statusL -   -
                 ALIVE_ISALIVE(&steering()->myChecker);
@@ -293,6 +298,17 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
          * SUPPLY *
          **********/
         case 6:
+            if(idMsg == 0x4) {
+                DRIVE_startBehaviour(drive());
+                STEERING_startBehaviour(steering());
+
+                ALIVE_startBehaviourSender(ALcontroller());
+
+                ALIVE_startBehaviourChecker(ALjoy());
+                ALIVE_emitBorn(ALjoy(), 100, 0);
+                ALIVE_emitReady(ALjoy(), 200, 0);
+            }
+            
             if(idMsg == 0xF) { // BATTERY_ALIVE
                 //  -   -	-	-
                 // TODO battery say ALIVE

306-controller_interface.X/app/drive.c

@@ -61,14 +61,14 @@ bool DRIVE_processEvent(Event* ev) {
             if (ev->id == evDRpollTorque) {
                 //if(steeringState == STST_RUN) {
                     CM_DRIVE_POWER(&eKart.torque);
+                    if (KART_CST.DRIVE_STOP_TIME == 0) KART_CST.DRIVE_STOP_TIME = 1;
+                    DRIVE_emitPollTorque(me, KART_CST.DRIVE_STOP_TIME*5, 0);
                 //}
             }
             
             if (ev->id == evDRpollSpeed) {
                 CM_DISPLAY_SPEED(&eKart.speed);
             }
-            
-            DRIVE_emitPollTorque(me, KART_CST.DRIVE_STOP_TIME*9, 0);
             break;
         
         case STDR_DEAD:
@@ -104,6 +104,8 @@ bool DRIVE_processEvent(Event* ev) {
                 break;
             
             case STDR_RUN:
+                if (KART_CST.DRIVE_STOP_TIME == 0) KART_CST.DRIVE_STOP_TIME = 1;
+                DRIVE_emitPollTorque(me, KART_CST.DRIVE_STOP_TIME*5, 0);
                 if (me->run.f != NULL) {
                     me->run.f(me->run.p);
                 }

306-controller_interface.X/app/eeprom.c

@@ -31,9 +31,9 @@ void MEM_init(){
         KART_CST.CONTROL_MAX_SPEED_FW    =   50;
         KART_CST.CONTROL_MAX_SPEED_BW    =   25;
         
-        KART_CST.JOYSTICK_MODE           =   0;
-        KART_CST.JOYSTICK_PARAM1         =   5;
-        KART_CST.JOYSTICK_PARAM2         =   1;
+        KART_CST.JOYSTICK_MODE           =   0; // mode 0 is time based, mode 1 is change based
+        KART_CST.JOYSTICK_PARAM1         =   5; // for mode 0, values are send every param1*10ms
+        KART_CST.JOYSTICK_PARAM2         =   1; // for mode 0, values need to change param2 at least for sending
         KART_CST.JOYSTICK_ALIVE_TIME     =   25;
         
         KART_CST.DISPLAY_ALIVE_TIME      =  100;

306-controller_interface.X/app/factory/factory.c

@@ -72,7 +72,7 @@ void Factory_build() {
 //start all state machines
 void Factory_start() {
     CAN_startBehaviour();
-        
+/*        
     DRIVE_startBehaviour(drive());
     STEERING_startBehaviour(steering());
     
@@ -81,7 +81,7 @@ void Factory_start() {
     ALIVE_startBehaviourChecker(ALjoy());
     ALIVE_emitBorn(ALjoy(), 100, 0);
     ALIVE_emitReady(ALjoy(), 200, 0);
-    
+*/    
     
     
 }

306-controller_interface.X/app/kartculator.c

@@ -45,6 +45,7 @@ void calcPosition(uint8_t joy_pos){
     }
     lastPos = calcPosition;
     
+    calcPosition *= -1;     // change left and right
     calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR;
     calcPosition /= 1000;
     calcPosition += eKart.center;

306-controller_interface.X/app/steering.c

@@ -26,6 +26,7 @@ void STEERING_init(STEERING* me){
     me->wait.f = NULL;
     me->run.f = NULL;
     me->dead.f = NULL;
+    eKart.center = 560024;
 }
 
 void STEERING_startBehaviour(STEERING* me){

306-controller_interface.X/middleware/alive.c

@@ -67,7 +67,7 @@ bool ALIVE_processEvent(Event* ev) {
         case STAL_BORN:
             if (ev->id == evALready) {
                 me->state = STAL_WAIT;
-                ALIVE_emitPoll(me, me->aliveTime*10, 0);
+                ALIVE_emitPoll(me, me->aliveTime*20, 0);
             }
             break;
         
@@ -80,7 +80,7 @@ bool ALIVE_processEvent(Event* ev) {
                     }
                 } else if (me->isAlive){
                     me->state = STAL_WAIT;
-                    ALIVE_emitPoll(me, me->aliveTime*10, 0);
+                    ALIVE_emitPoll(me, me->aliveTime*20, 0);
                 } else {
                     me->state = STAL_DEAD;
                 }
@@ -105,7 +105,7 @@ bool ALIVE_processEvent(Event* ev) {
                         me->state = STAL_BREAK;
                     }
                 } else {
-                    ALIVE_emitPoll(me, me->aliveTime*10, 0);
+                    ALIVE_emitPoll(me, me->aliveTime*20, 0);
                 }
             }
             break;

306-controller_interface.X/nbproject/configurations.xml

@@ -272,6 +272,7 @@
         <property key="debugoptions.useswbreakpoints" value="false"/>
         <property key="event.recorder.enabled" value="false"/>
         <property key="event.recorder.scvd.files" value=""/>
+        <property key="firmware.download.all" value="false"/>
         <property key="hwtoolclock.frcindebug" value="false"/>
         <property key="lastid" value=""/>
         <property key="memories.aux" value="false"/>