void mainControlTest(void)
{
mainControlInit();
telemetersStart();
HAL_Delay(500);
wall_follow_control.follow_type = NOFOLLOW;
rotate180WithCal(CCW, 400, 0);
telemetersStop();
mainControlDisplayTest();
}
void followWallTest()
{
mainControlInit();
telemetersStart();
motorsSleepDriver(OFF);
HAL_Delay(500);
// control_params.wall_follow_state = TRUE;
wall_follow_control.follow_type = FOLLOW_WALL;//NOFOLLOW
// moveUTurn(300, 300, 0);
//while(1);
move(0, 0, 0, 0);
moveStartCell(500, 500);
moveCell(5, 500, 300);
moveRotateCW90(300, 300);
moveCell(3, 500, 300);
moveRotateCW90(300, 300);
moveCell(2, 500, 300);
moveRotateCW90(300, 300);
moveCell(2, 500, 300);
moveRotateCCW90(300, 300);
moveCell(1, 500, 300);
moveRotateCW90(300, 0);
// moveRotateCW90(50, 10);
// moveRotateCCW90(50, 10);
// moveRotateCCW90(50, 10);
while(1);
moveRotateCW90(600, 200);
moveRotateCW90(600, 200);
moveCell(1, 600, 200);
moveRotateCCW90(600, 200);
moveRotateCCW90(600, 200);
HAL_Delay(1000);
moveCell(4, 1000, 200);
HAL_Delay(1000);
moveRotateCW90(600, 200);
moveRotateCCW90(600, 200);
moveRotateCW90(600, 200);
moveRotateCCW90(600, 200);
moveRotateCW90(600, 200);
moveRotateCCW90(600, 200);
moveRotateCW90(600, 200);
moveCell(1, 600, 200);
telemetersStop();
mainControlDisplayTest();
mainControlDisplayTest();
}
void rotateTest()
{
mainControlInit();
HAL_Delay(500);
wall_follow_control.follow_type = NOFOLLOW;
position_control.position_type = GYRO;
move(90, 90, 300, 0);
// while(isEndMove() != TRUE);
// move(0, 180, 100, 0);
// while(isEndMove() != TRUE);
// move(0, 0, 0, 0);
// while(isEndMove() != TRUE);
mainControlDisplayTest();
}
int main(void)
{
/* USER CODE BEGIN 1 */
CMDLINE_CONTEXT cmd_context;
const char *zhonx_info = (char *)CONFIG_ZHONX_INFO_ADDR;
/* USER CODE END 1 */
/* MCU Configuration----------------------------------------------------------*/
/* Reset of all peripherals, Initializes the Flash interface and the Systick. */
HAL_Init();
/* Configure the system clock */
SystemClock_Config();
/* Initialize all configured peripherals */
MX_GPIO_Init();
MX_DMA_Init();
MX_ADC1_Init();
MX_ADC2_Init();
MX_ADC3_Init();
MX_I2C1_Init();
MX_RNG_Init();
MX_TIM1_Init();
MX_TIM2_Init();
MX_TIM3_Init();
MX_TIM4_Init();
MX_TIM5_Init();
MX_TIM6_Init();
MX_TIM7_Init();
MX_TIM8_Init();
MX_TIM11_Init();
MX_USART3_UART_Init();
/* USER CODE BEGIN 2 */
expanderInit();
HAL_Delay(100);
mainControlInit();
ssd1306Init(0);
timesBaseInit();
ledPowerBlink(990, 10);
settingsInit();
mulimeterInit();
bluetoothInit();
toneInit();
spyPostInit();
positionControlSetPositionType(GYRO);
mainControlSetFollowType(NO_FOLLOW);
toneSetVolulme(100);
tone(F4, 50);
toneItMode(A4, 50);
// Register Output callback
cmd_context.out = blockingPrintf;
// Initialize Command Line module
cmdline_init(&cmd_context);
// Check if robot name is populated in Flash
memset(zhonxName, 0, sizeof(zhonxName));
// Retrieve ZHONX information from flash if any
if (zhonx_info[0] == 'Z')
{
strcpy(zhonxName, zhonx_info);
}
while (zhonxName[0] == 0)
{
menu(zhonxNameMenu);
}
while (1)
{
menu(mainMenu);
powerOffConfirmation();
}
/* USER CODE END 2 */
/* Infinite loop */
/* USER CODE BEGIN WHILE */
while (1)
;
/* USER CODE END WHILE */
/* USER CODE BEGIN 3 */
/* USER CODE END 3 */
}
