From df518c97a5718d744361f3b95946f45b3a9a7ce4 Mon Sep 17 00:00:00 2001
From: Jingxiao Teng <teng32@purdue.edu>
Date: Fri, 14 Jun 2024 00:45:04 -0600
Subject: [PATCH] Heat Regulation Changed

---
 src/app/inc/launch_task.h | 2 +-
 src/app/src/launch_task.c | 5 ++++-
 src/app/src/motor_task.c  | 2 +-
 src/app/src/robot.c       | 2 +-
 4 files changed, 7 insertions(+), 4 deletions(-)

diff --git a/src/app/inc/launch_task.h b/src/app/inc/launch_task.h
index 84c5db8..d7bdee0 100644
--- a/src/app/inc/launch_task.h
+++ b/src/app/inc/launch_task.h
@@ -15,7 +15,7 @@
 #define FEED_FREQUENCY_20 (20.0f / FEED_HOLE_NUM * 60.0f)
 #define FEED_FREQUENCY_30 (30.0f / FEED_HOLE_NUM * 60.0f)
 
-//#define HEAT_CONTROL
+#define HEAT_CONTROL
 
 typedef struct
 {
diff --git a/src/app/src/launch_task.c b/src/app/src/launch_task.c
index a85430e..3e24fac 100644
--- a/src/app/src/launch_task.c
+++ b/src/app/src/launch_task.c
@@ -93,6 +93,10 @@ void Feed_Angle_Calc()
     #ifdef HEAT_CONTROL
         if (Referee_System.Online_Flag)
         {
+            if (Referee_System.Robot_State.Shooter_Power_Output == 0)
+            {
+                g_launch_target.feed_angle = g_motor_feed->stats->total_angle_rad;
+            } 
             if (g_launch_target.heat_count*2 % 100 == 0)
             {
                 g_launch_target.calculated_heat -= Referee_Robot_State.Cooling_Rate/10;
@@ -107,7 +111,6 @@ void Feed_Angle_Calc()
                     {
                         g_launch_target.calculated_heat += 10;
                         g_launch_target.feed_angle += FEED_1_PROJECTILE_ANGLE;
-                        
                     }
                 }
                 DJI_Motor_Set_Control_Mode(g_motor_feed, POSITION_CONTROL_TOTAL_ANGLE);
diff --git a/src/app/src/motor_task.c b/src/app/src/motor_task.c
index 58119ed..83e1a7f 100644
--- a/src/app/src/motor_task.c
+++ b/src/app/src/motor_task.c
@@ -7,7 +7,7 @@
 extern Supercap_t g_supercap;
 
 void Motor_Task_Loop() {
-    // DJI_Motor_Send();
+    DJI_Motor_Send();
     // MF_Motor_Send();
     // DM_Motor_Send();
 
diff --git a/src/app/src/robot.c b/src/app/src/robot.c
index 54dc263..c16c788 100644
--- a/src/app/src/robot.c
+++ b/src/app/src/robot.c
@@ -140,7 +140,7 @@ void Robot_Cmd_Loop()
 
             /* Launch control starts here */
             g_launch_target.heat_count++;
-            if (1)//Referee_Robot_State.Shooter_Heat_1 < (Referee_Robot_State.Heat_Max-10))
+            if (Referee_Robot_State.Shooter_Heat_1 < (Referee_Robot_State.Heat_Max-10))
             {
                 if (g_remote.controller.wheel < -50.0f)
                 { // dial wheel forward single fire