46 lines
1.1 KiB
C
46 lines
1.1 KiB
C
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#include "mode_position2.h"
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#include "ctre.h"
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#include "memecoder.h"
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void mode_position2_init(app_state_t *app, mode_position2_state_t *state) {
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state->time = 0;
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state->zeroed = 0;
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state->position = 0;
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state->position2 = 0;
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}
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void mode_position2(app_state_t *app, mode_position2_state_t *state) {
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ctre_feed_enable(app->switch_state > 0);
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printf("Pos: %d, %d\r\n", state->position, state->position2);
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if(app->switch_state > 0) {
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if(!state->zeroed) {
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if(app->switch_state == 1)
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memecoder_set(state->position * 42 / 2048 / 5);
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else
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memecoder_set(state->position2 * 42 / 2048 / 5);
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}
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state->zeroed = 1;
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} else {
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state->zeroed = 0;
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}
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if(state->time % 20 == 0) {
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int mc = memecoder_get();
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int cmd_pos = mc * 5 * 2048 / 42;
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if(app->switch_state == 1) {
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state->position = (state->position * 9 + cmd_pos) / 10;
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ctre_position_out(10, state->position);
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}
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if(app->switch_state == 2) {
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state->position2 = (state->position2 * 9 + cmd_pos) / 10;
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ctre_position_out(30, state->position2);
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}
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}
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state->time++;
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}
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