Merge pull request #26 from RoboMaster-Club/1-robot-state-machine

move safe start to global struct for better debug
RoboMaster-Club · Apr 5, 2024 · c62179e · c62179e
2 parents 4880c6b + 7577340
commit c62179e
Show file tree

Hide file tree

Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/src/app/inc/robot.h b/src/app/inc/robot.h
@@ -5,6 +5,7 @@
 
 typedef struct {
   uint8_t enabled;
+  uint8_t safely_started;
   uint8_t spintop_mode;
   uint8_t autoaiming_enabled;
   float chassis_x_speed;

diff --git a/src/app/src/robot.c b/src/app/src/robot.c
@@ -58,7 +58,9 @@ void Robot_Ctrl_Loop()
  */
 void Robot_Cmd_Loop()
 {
-    if (g_start_safely)
+    // safely startly will be 1 after first time right switch is down
+    // this is to make sure the robot is disabled when it starts
+    if (g_robot_state.safely_started == 1)
     {
         if ((g_remote.online_flag == REMOTE_OFFLINE) || (g_remote.controller.right_switch == DOWN))
         {
@@ -202,7 +204,7 @@ void Robot_Cmd_Loop()
     {
         if (g_remote.controller.right_switch == DOWN)
         {
-            g_start_safely = 1;
+            g_robot_state.safely_started = 1;
         }
     }
 }