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PAMI_Super_Star_2025
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Added a timeout for PAMI to be far away from bordure

This commit is contained in:
Ulysse Cura 2025-05-26 13:46:13 +02:00
parent 48e22faf62
commit 88da5981b4
1 changed files with 155 additions and 145 deletions
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12
Code/src/main.c
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@ -4,7 +4,7 @@
#define NORMAL_SPEED 2000.0f
#define TURNING_SPEED 1300.0f
#define ON_STAGE_SPEED 1100.0f
#define ON_STAGE_SPEED 1500.0f
#define RAMPE_ANGLE -7.82907651006f
#define RAMPE_ANGLE_OFFSET 1.0f
@ -36,6 +36,7 @@ typedef enum state_t {
WaitingTimer,
ForwardToRamp,
ForwardToScene,
SceneTimeout,
Turn90Blue, // If blue team
Turn90Yellow, // If yellow team => this is the only action where you have to do something different depending on your team
ForwardToSceneEdge,
@ -95,6 +96,15 @@ void main(void)
io.target_speed = NORMAL_SPEED;
if(io.gyro_data.y_angle < RAMPE_START_ANGLE)
{
actual_state = SceneTimeout;
}
break;
case SceneTimeout:
unsigned long initial_time = io.time_ms;
if(io.time_ms - initial_time >= 500)
{
actual_state = ForwardToScene;
}