task autonomous()
{
switch(AutoSelect)
{
//AUTO SKILLS
case 1:
RedSkills();
break;
// AUTO ROUTINES
case 2:
//BALL AUTO
Balls(3500);
break;
case 3:
Park();
break;
case 4:
WalloB();
break;
case 5:
WalloR();
break;
case 6:
FrontMiddleL();
break;
case 7:
FrontMiddleR();
break;
case 8:
SideMiddleB();
break;
case 9:
SideMiddleR();
break;
///// TEST CODE /////
case 17:
//PID TURN TEST
TurnLeft(900);
wait1Msec(500);
TurnRight(900);
break;
case 18:
//PID DRIVE TEST
Drive(36);
break;
case 19:
// LEFT TEST
LeftTest();
break;
case 20:
// RIGHT TEST
RightTest();
break;
default:
//NOTHING
}
}
//
// Function for interpreting a command string of the format ": COMMAND <ARGUMENT> #"
//
void Dome::interpretCommand(Messenger *message)
{
message->readChar(); // Reads ":"
char command = message->readChar(); // Read the command
switch(command){
case 'P':
Park();
break;
case 'O':
OpenCloseShutter(message->readInt());
break;
case 'S':
Slew(message->readLong());
break;
case 'H':
AbortSlew();
break;
case 'T':
SyncToAzimuth(message->readInt());
break;
}
}
void Mount::syncTelescopeInfo()
{
INumberVectorProperty * nvp = currentTelescope->getBaseDevice()->getNumber("TELESCOPE_INFO");
if (nvp)
{
primaryScopeGroup->setTitle(currentTelescope->getDeviceName());
guideScopeGroup->setTitle(i18n("%1 guide scope", currentTelescope->getDeviceName()));
INumber *np = NULL;
np = IUFindNumber(nvp, "TELESCOPE_APERTURE");
if (np && np->value > 0)
primaryScopeApertureIN->setValue(np->value);
np = IUFindNumber(nvp, "TELESCOPE_FOCAL_LENGTH");
if (np && np->value > 0)
primaryScopeFocalIN->setValue(np->value);
np = IUFindNumber(nvp, "GUIDER_APERTURE");
if (np && np->value > 0)
guideScopeApertureIN->setValue(np->value);
np = IUFindNumber(nvp, "GUIDER_FOCAL_LENGTH");
if (np && np->value > 0)
guideScopeFocalIN->setValue(np->value);
}
ISwitchVectorProperty *svp = currentTelescope->getBaseDevice()->getSwitch("TELESCOPE_SLEW_RATE");
if (svp)
{
slewSpeedCombo->clear();
slewSpeedCombo->setEnabled(true);
for (int i=0; i < svp->nsp; i++)
slewSpeedCombo->addItem(i18nc(libindi_strings_context, svp->sp[i].label));
int index = IUFindOnSwitchIndex(svp);
slewSpeedCombo->setCurrentIndex(index);
connect(slewSpeedCombo, SIGNAL(activated(int)), currentTelescope, SLOT(setSlewRate(int)), Qt::UniqueConnection);
}
else
{
slewSpeedCombo->setEnabled(false);
disconnect(slewSpeedCombo, SIGNAL(activated(int)), currentTelescope, SLOT(setSlewRate(int)));
}
if (currentTelescope->canPark())
{
parkB->setEnabled(!currentTelescope->isParked());
unparkB->setEnabled(currentTelescope->isParked());
connect(parkB, SIGNAL(clicked()), currentTelescope, SLOT(Park()), Qt::UniqueConnection);
connect(unparkB, SIGNAL(clicked()), currentTelescope, SLOT(UnPark()), Qt::UniqueConnection);
}
else
{
parkB->setEnabled(false);
unparkB->setEnabled(false);
disconnect(parkB, SIGNAL(clicked()), currentTelescope, SLOT(Park()));
disconnect(unparkB, SIGNAL(clicked()), currentTelescope, SLOT(UnPark()));
}
}
void DMA1_Channel1_IRQHandler(void)
{
uint8_t ii;
/* Test DMA1 TC flag */
if((DMA_GetFlagStatus(DMA1_FLAG_TC1)) != RESET )
{
/* Clear DMA TC flag */
DMA_ClearFlag(DMA1_FLAG_TC1);
if(Motor_State==INIT)
{
ADCTemp_Init(ADC_Tab);
}
else
{
//LED_ON();
if(FOC_Flag)
{
for(ii=0;ii<6;ii++) TPWM_Cnt[ii+1]++;
PWM_Cnt++;
if(Limit_angle<(ANGLE_60D+ANGLE_60D/8))
{
SVM_Angle=SVM_Angle+Delta_angle;
Limit_angle+=Delta_angle;
}
// SVM_Angle_Test=0;
// IQ_Reference=0;
// ID_Reference=1000;
// Test_Hall=HALL_DATA();
SVPWM_2ShuntGetPhaseCurrentValues(&Curr_a_b);
Clarke(&Curr_alfa_beta,&Curr_a_b);
Park(&Curr_q_d,&Curr_alfa_beta,SVM_Angle); //
#ifdef OPEN_I
Volt_q_d.qV_Component1=VQ_Reference;
#else
Volt_q_d.qV_Component1=PID_Regulator(IQ_Reference,Curr_q_d.qI_Component1,&IQ_PID_t); //
#endif
Volt_q_d.qV_Component2=PID_Regulator(ID_Reference,Curr_q_d.qI_Component2,&ID_PID_t);
RevPark_Circle_Limitation(&Volt_q_d);
Rev_Park(&Volt_alfa_beta,&Volt_q_d);
SVPWM_2ShuntCalcDutyCycles(&Volt_alfa_beta);
} else PWM_Cnt=1000;
//LED_OFF();
DAC_SetChannel1Data(DAC_Align_12b_R,SVM_Angle/16);
}
if(++T2ms_Temp>T2MSTEMP) //2ms
{
T2ms_Temp=0;
T2ms_Flag=1;
}
if(++T100ms_Temp>T100MSTEMP) //100ms
{
T100ms_Temp=0;
T100ms_Flag=1;
}else{}
}
}