leonetienne/MinumelArmMCU
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feat: main loop now listens to state

Browse Source
This commit is contained in:
Leonetienne
2025-12-15 20:13:05 +01:00
parent 0405df14fe
commit ace1b9ef66
3 changed files with 56 additions and 45 deletions
Download Patch File Download Diff File Expand all files Collapse all files
MainLoop.cpp
+35 -24
View File
@@ -75,33 +75,44 @@ void MainLoop::update() noexcept
UartHandler& uart = UartHandler::getInstance();
uart.poll();
while(uart.getNumAvailablePackets()) {
uint8_t packet[16];
uart.getNextPacket(packet);
CommandParser::Command command = CommandParser::getInstance().parsePacket(packet);
switch (StateMachine::getInstance().getState()) {
case StateMachine::STATE::IDLING:
case StateMachine::STATE::MOVING:
while(uart.getNumAvailablePackets()) {
uint8_t packet[16];
uart.getNextPacket(packet);
CommandParser::Command command = CommandParser::getInstance().parsePacket(packet);
switch (command.instruction) {
// Scoping to keep variables local
case CommandParser::Command::TYPE::MOVE_ABSOLUTE: {
AdafruitServoMotor& motor = motors[command.args[0]];
const float moveTarget = (float)command.args[1] / 10.0f;
motor.moveTo(moveTarget);
}
break;
case CommandParser::Command::TYPE::MOVE_RELATIVE: {
AdafruitServoMotor& motor = motors[command.args[0]];
const float moveDelta = (float)command.args[1] / 10.0f;
motor.moveTo(motor.getPosition() + moveDelta);
}
break;
case CommandParser::Command::TYPE::RESET_POSITIONS: {
for (uint8_t i = 0; i < 3; i++) {
motors[i].moveTo(0);
motors[i].commitMoveImmediately();
switch (command.instruction) {
// Scoping to keep variables local
case CommandParser::Command::TYPE::MOVE_ABSOLUTE: {
AdafruitServoMotor& motor = motors[command.args[0]];
const float moveTarget = (float)command.args[1] / 10.0f;
motor.moveTo(moveTarget);
}
break;
case CommandParser::Command::TYPE::MOVE_RELATIVE: {
AdafruitServoMotor& motor = motors[command.args[0]];
const float moveDelta = (float)command.args[1] / 10.0f;
motor.moveTo(motor.getPosition() + moveDelta);
}
break;
case CommandParser::Command::TYPE::RESET_POSITIONS: {
for (uint8_t i = 0; i < 3; i++) {
motors[i].moveTo(0);
motors[i].commitMoveImmediately();
}
}
break;
}
break;
}
}
break;
case StateMachine::STATE::ERROR:
default:
// Freeze in place until error clears or device reset
yield();
break;
}
}