void Robot::TeleopInit() {
double startTime = GetRTC();
printf("Robot: TeleopInit at %f seconds, %d ticks", startTime, ticks);
// If we'd previously run an autonomous, record how long it lasted
if (m_startTicks > 0) {
double elapsedTime = startTime - m_startTime;
int elapsedTicks = ticks - m_startTicks;
printf(", prior autonomous ran for %f seconds, %d ticks, %5.2f tps.",
elapsedTime, elapsedTicks, elapsedTicks/elapsedTime);
}
printf("\n");
m_startTicks = ticks;
m_startTime = startTime;
// uncomment only for calibrating vision
// CommandBase::navXSubsystem->zeroYaw(0);
if (mp_autonomousCommand != NULL) {
mp_autonomousCommand->Cancel();
}
// begin teleop "polling" commands
CommandBase::driveJoystickCommand->Start();
CommandBase::intakeRollerCommand->Start();
CommandBase::flapCommand->Start();
SetLeds(NORMAL);
}
__myevic__ void DTMenuOnEnter()
{
dt_sel = 2;
GetRTC( &rtd );
ScreenDuration = 120;
}
//=========================================================================
__myevic__ void ShowRTCAdjust()
{
S_RTC_TIME_DATA_T rtd;
DrawString( String_ClkAdjust, 4, 6 );
DrawHLine( 0, 16, 63, 1 );
GetRTC( &rtd );
DrawTime( 5, 40, &rtd, 0x1F );
}
__myevic__ void ShowRTCSpeed()
{
unsigned int cs;
S_RTC_TIME_DATA_T rtd;
DrawString( String_ClkSpeed, 4, 6 );
DrawHLine( 0, 16, 63, 1 );
GetRTC( &rtd );
DrawTimeSmall( 12, 20, &rtd, 0x1F );
cs = RTCGetClockSpeed();
DrawValue( 12, 40, cs, 0, 0x1F, 5 );
}
//----清除全部刷卡记录-----------------------------------------------------
void clear_CardID()
{
char DateSt[12], TimeSt[12];
storeaddrlist.RecordCount = 0;
storeaddrlist.CountAddrOffset = 0;
timeoutaddrlist.RecordCount = 0;
timeoutaddrlist.CountAddrOffset = 0;
LastSaveTime = GetRTC(DateSt, TimeSt);///获取当前时间，秒数 //需要优化;
//清除记录区
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_BSY | FLASH_FLAG_EOP | FLASH_FLAG_PGERR | FLASH_FLAG_WRPRTERR);
FLASH_ErasePage(PLACELASTID);
FLASH_ErasePage(POINTOFSECTION);
FLASH_Lock();
}
void Robot::DisabledInit() {
double startTime = GetRTC();
printf("Robot: Disabled at %f seconds, %d ticks", startTime, ticks);
// If we'd previously run an autonomous, record how long it lasted
if (m_startTicks > 0) {
double elapsedTime = startTime - m_startTime;
int elapsedTicks = ticks - m_startTicks;
printf(", prior state ran for %f seconds, %d ticks, %5.2f tps.",
elapsedTime, elapsedTicks, elapsedTicks/elapsedTime);
}
printf("\n");
m_startTicks = ticks;
m_startTime = startTime;
if (mp_autonomousCommand != NULL) {
mp_autonomousCommand->Cancel();
}
printf("LEDs: Turning off\n");
SetLeds(OFF);
}
void Robot::AutonomousInit() {
m_startTicks = ticks;
m_startTime = GetRTC();
printf("Robot: AutononmousInit at %f seconds, %d ticks\n",
m_startTime, ticks);
int pos = m_fieldInfo.GetPosition();
int def = m_fieldInfo.GetDefense();
int target = m_fieldInfo.GetTarget();
bool slow = m_fieldInfo.IsCrossingSlowly();
printf("Autonomous: Position %d | Defense %d | Target %d, Speed %s\n",
pos, def, target, slow ? "SLOW" : "NORMAL");
// make sure we don't inadvertently leave the LED ring off
CommandBase::visionSubsystem->setLedRingState(true);
// if we've already run auto, delete the existing auto command
if (mp_autonomousCommand != NULL) {
delete mp_autonomousCommand;
mp_autonomousCommand = NULL;
}
// create a new dynamic auto command with the selected parameters from the SmartDashboard
mp_autonomousCommand = new AutonomousDriveAndShoot(pos, def, target);
mp_autonomousCommand->Start();
// reset our coordinate system to where the robot is currently located / oriented
// assume robot was set up correctly (there's nothing else we can do)
// Robot will start out wedges first, or intake first, depending on the defense
CommandBase::navXSubsystem->zeroYaw(m_fieldInfo.GetInitialOrientation());
CommandBase::navXSubsystem->ResetDisplacement();
CommandBase::driveSubsystem->SetInitialPosition(FieldInfo::startingLocations[pos].x,
FieldInfo::startingLocations[pos].y);
CommandBase::driveJoystickCommand->Cancel();
CommandBase::intakeRollerCommand->Cancel();
CommandBase::flapCommand->Cancel();
SetLeds(NORMAL);
}
//=========================================================================
//----- (00000148) --------------------------------------------------------
__myevic__ void Main()
{
InitDevices();
InitVariables();
// Enable chip temp sensor sampling by ADC
if ( ISRX300 )
{
SYS->IVSCTL |= SYS_IVSCTL_VTEMPEN_Msk;
}
InitHardware();
myprintf( "\n\nJoyetech APROM\n" );
myprintf( "CPU @ %dHz(PLL@ %dHz)\n", SystemCoreClock, PllClock );
SetBatteryModel();
gFlags.sample_vbat = 1;
ReadBatteryVoltage();
gFlags.sample_btemp = 1;
ReadBoardTemp();
InitDisplay();
MainView();
SplashTimer = 3;
CustomStartup();
if ( !PD3 )
{
DrawScreen();
while ( !PD3 )
;
}
while ( 1 )
{
while ( gFlags.playing_fb )
{
// Flappy Bird game loop
fbCallTimeouts();
if ( gFlags.tick_100hz )
{
// 100Hz
gFlags.tick_100hz = 0;
ResetWatchDog();
TimedItems();
SleepIfIdle();
GetUserInput();
if ( !PE0 )
SleepTimer = 3000;
}
if ( gFlags.tick_10hz )
{
// 10Hz
gFlags.tick_10hz = 0;
DataFlashUpdateTick();
}
}
if ( gFlags.firing )
{
ReadAtoCurrent();
}
if ( gFlags.tick_5khz )
{
// 5000Hz
gFlags.tick_5khz = 0;
if ( gFlags.firing )
{
RegulateBuckBoost();
}
}
if ( gFlags.tick_1khz )
{
// 1000Hz
gFlags.tick_1khz = 0;
if ( gFlags.firing )
{
ReadAtomizer();
if ( ISMODETC(dfMode) )
{
if ( gFlags.check_mode )
{
CheckMode();
}
TweakTargetVoltsTC();
}
else if ( ISMODEVW(dfMode) )
{
TweakTargetVoltsVW();
}
}
if ( dfStatus.vcom )
{
VCOM_Poll();
}
}
if ( gFlags.tick_100hz )
{
// 100Hz
gFlags.tick_100hz = 0;
ResetWatchDog();
if ( gFlags.read_battery )
{
gFlags.read_battery = 0;
}
TimedItems();
SleepIfIdle();
ReadBatteryVoltage();
ReadBoardTemp();
if ( gFlags.firing && BoardTemp >= 70 )
{
Overtemp();
}
if ( ISVTCDUAL )
{
BatteryChargeDual();
}
else if ( ISCUBOID || ISCUBO200 || ISRX200S || ISRX23 || ISRX300 )
{
BatteryCharge();
}
if (( gFlags.anim3d ) && ( Screen == 1 ) && ( !EditModeTimer ))
{
anim3d( 0 );
}
if ( Screen == 60 )
{
AnimateScreenSaver();
}
if ( gFlags.firing )
{
if ( gFlags.read_bir && ( FireDuration > 10 ) )
{
ReadInternalResistance();
}
if ( PreheatTimer && !--PreheatTimer )
{
uint16_t pwr;
if ( dfMode == 6 )
{
pwr = dfSavedCfgPwr[ConfigIndex];
}
else
{
pwr = dfPower;
}
if ( pwr > BatteryMaxPwr )
{
gFlags.limit_power = 1;
PowerScale = 100 * BatteryMaxPwr / pwr;
}
else
{
gFlags.limit_power = 0;
PowerScale = 100;
}
}
}
if ( KeyTicks >= 5 )
{
KeyRepeat();
}
GetUserInput();
}
if ( gFlags.tick_10hz )
{
// 10Hz
gFlags.tick_10hz = 0;
DataFlashUpdateTick();
LEDTimerTick();
if ( gFlags.firing )
{
++FireDuration;
if ( gFlags.monitoring )
{
Monitor();
}
}
if ( ShowWeakBatFlag )
--ShowWeakBatFlag;
if ( ShowProfNum )
--ShowProfNum;
if ( !( gFlags.firing && ISMODETC(dfMode) ) )
{
DrawScreen();
}
if ( KeyTicks < 5 )
{
KeyRepeat();
}
}
if ( gFlags.tick_5hz )
{
// 5Hz
gFlags.tick_5hz = 0;
if ( !gFlags.rtcinit && NumBatteries )
{
InitRTC();
}
if ( gFlags.firing )
{
if ( TargetVolts == 0 )
{
ProbeAtomizer();
}
}
else
{
if
( !dfStatus.off
&& Event == 0
&& ( AtoProbeCount < 12 )
&& ( Screen == 0 || Screen == 1 || Screen == 5 ) )
{
ProbeAtomizer();
}
}
if ( IsClockOnScreen() )
{
static uint8_t u8Seconds = 61;
S_RTC_TIME_DATA_T rtd;
GetRTC( &rtd );
if ( (uint8_t)rtd.u32Second != u8Seconds )
{
u8Seconds = (uint8_t)rtd.u32Second;
gFlags.refresh_display = 1;
}
}
}
if ( gFlags.tick_2hz )
{
// 2Hz
gFlags.tick_2hz = 0;
gFlags.osc_1hz ^= 1;
if ( gFlags.firing )
{
if ( ISMODETC(dfMode) )
{
DrawScreen();
}
}
else
{
if
( !dfStatus.off
&& Event == 0
&& ( AtoProbeCount >= 12 )
&& ( Screen == 0 || Screen == 1 || Screen == 5 ) )
{
ProbeAtomizer();
}
if ( gFlags.monitoring )
{
Monitor();
}
}
}
if ( gFlags.tick_1hz )
{
// 1Hz
gFlags.tick_1hz = 0;
if ( SplashTimer )
{
--SplashTimer;
if ( !SplashTimer )
{
MainView();
}
}
if ( !gFlags.firing && !dfStatus.off && !EditModeTimer )
{
if ( HideLogo )
{
if ( Screen == 1 )
{
--HideLogo;
if ( !HideLogo )
{
gFlags.refresh_display = 1;
}
}
}
}
}
EventHandler();
}
}
