Fix turret cooldown and heat monitoring

ut-ras · May 26, 2024 · e8aab44 · e8aab44
1 parent f7b7adf
commit e8aab44
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Showing 9 changed files with 12 additions and 25 deletions.
diff --git a/ut-robomaster/src/robots/hero/hero_constants.hpp b/ut-robomaster/src/robots/hero/hero_constants.hpp
@@ -136,7 +136,8 @@ static constexpr float WHEEL_MAX_VEL = 120.0f;  // rad/s
 static constexpr float MAX_LINEAR_VEL = WHEEL_MAX_VEL * WHEEL_RADIUS;               // m/s
 static constexpr float MAX_ANGULAR_VEL = WHEEL_MAX_VEL * WHEEL_RADIUS / WHEEL_LXY;  // rad/s
 
-static constexpr float FLYWHEEL_SPEED = 190.0f;  // 16 m/s
+const float TARGET_PROJECTILE_VELOCITY = 16;  // m/s
+const float FLYWHEEL_SPEED = 190.0f;
 
 const float BALLS_PER_SEC = 4.0f;
 const float BALLS_PER_REV = 6.0f;

diff --git a/ut-robomaster/src/robots/sentry/sentry_constants.hpp b/ut-robomaster/src/robots/sentry/sentry_constants.hpp
@@ -135,7 +135,8 @@ static constexpr float WHEEL_MAX_VEL = 50.0f;  // rad/s
 static constexpr float MAX_LINEAR_VEL = WHEEL_MAX_VEL * WHEEL_RADIUS;               // m/s
 static constexpr float MAX_ANGULAR_VEL = WHEEL_MAX_VEL * WHEEL_RADIUS / WHEEL_LXY;  // rad/s
 
-static constexpr float FLYWHEEL_SPEED = 122.0f;  // 30 m/s
+const float TARGET_PROJECTILE_VELOCITY = 30;  // m/s
+const float FLYWHEEL_SPEED = 122.0f;
 
 const float BALLS_PER_SEC = 10.0f;
 const float BALLS_PER_REV = 8.0f;

diff --git a/ut-robomaster/src/robots/standard/standard_constants.hpp b/ut-robomaster/src/robots/standard/standard_constants.hpp
@@ -131,7 +131,8 @@ static constexpr float WHEEL_MAX_VEL = 50.0f;  // rad/s
 static constexpr float MAX_LINEAR_VEL = WHEEL_MAX_VEL * WHEEL_RADIUS;               // m/s
 static constexpr float MAX_ANGULAR_VEL = WHEEL_MAX_VEL * WHEEL_RADIUS / WHEEL_LXY;  // rad/s
 
-static constexpr float FLYWHEEL_SPEED = 122.0f;  // 30 m/s
+const float TARGET_PROJECTILE_VELOCITY = 30;  // m/s
+const float FLYWHEEL_SPEED = 122.0f;
 
 const float BALLS_PER_SEC = 10.0f;
 const float BALLS_PER_REV = 8.0f;

diff --git a/ut-robomaster/src/subsystems/agitator/command_agitator_burst.cpp b/ut-robomaster/src/subsystems/agitator/command_agitator_burst.cpp
@@ -16,7 +16,7 @@ bool CommandAgitatorBurst::isFinished() const
     }
 
     if (drivers->refSerial.getRefSerialReceivingData() &&
-        power_limiter::getRemainingCooldown(drivers, barrelId) <= BARREL_HEAT_BUFFER)
+        power_limiter::getRemainingHeat(drivers, barrelId) <= BARREL_HEAT_BUFFER)
     {
         return true;
     }

diff --git a/ut-robomaster/src/subsystems/agitator/command_agitator_continuous.cpp b/ut-robomaster/src/subsystems/agitator/command_agitator_continuous.cpp
@@ -23,7 +23,7 @@ void CommandAgitatorContinuous::execute()
     }
     else if (  // barrel overheat
         drivers->refSerial.getRefSerialReceivingData() &&
-        power_limiter::getRemainingCooldown(drivers, barrelId) <= BARREL_HEAT_BUFFER)
+        power_limiter::getRemainingHeat(drivers, barrelId) <= BARREL_HEAT_BUFFER)
     {
         agitator->setBallsPerSecond(0.0f);
     }

diff --git a/ut-robomaster/src/subsystems/turret/command_move_turret_aimbot.cpp b/ut-robomaster/src/subsystems/turret/command_move_turret_aimbot.cpp
@@ -48,7 +48,7 @@ void CommandMoveTurretAimbot::execute()
 
         bool validBallistcs = findTargetProjectileIntersection(
             kinState,
-            getBulletSpeed(),
+            TARGET_PROJECTILE_VELOCITY,
             BALLISTIC_ITERATIONS,
             &turretPitch,
             &turretYaw,
@@ -77,14 +77,4 @@ void CommandMoveTurretAimbot::execute()
 void CommandMoveTurretAimbot::end(bool) {}
 
 bool CommandMoveTurretAimbot::isFinished(void) const { return false; }
-
-float CommandMoveTurretAimbot::getBulletSpeed()
-{
-    auto turretInfo = &drivers->refSerial.getRobotData().turret;
-#if defined(TARGET_STANDARD) || defined(TARGET_SENTRY)
-    return turretInfo->barrelSpeedLimit17ID1;
-#elif defined(TARGET_HERO)
-    return turretInfo->barrelSpeedLimit42;
-#endif
-}
 }  // namespace commands
diff --git a/ut-robomaster/src/subsystems/turret/command_move_turret_aimbot.hpp b/ut-robomaster/src/subsystems/turret/command_move_turret_aimbot.hpp
@@ -34,8 +34,6 @@ class CommandMoveTurretAimbot : public tap::control::Command
     const char* getName() const override { return "move turret aimbot command"; }
 
 private:
-    float getBulletSpeed();
-
     src::Drivers* drivers;
     TurretSubsystem* turret;
 

diff --git a/ut-robomaster/src/utils/power_limiter/barrel_cooldown.cpp b/ut-robomaster/src/utils/power_limiter/barrel_cooldown.cpp
@@ -2,29 +2,25 @@
 
 namespace power_limiter
 {
-float getRemainingCooldown(src::Drivers *drivers, BarrelId id)
+float getRemainingHeat(src::Drivers *drivers, BarrelId id)
 {
     auto turret = drivers->refSerial.getRobotData().turret;
 
     float heat = 0.0f;
-    float limit = 0.0f;
 
     switch (id)
     {
         case STANDARD1:
             heat = turret.heat17ID1;
-            limit = turret.heatLimit17ID1;
             break;
         case STANDARD2:
             heat = turret.heat17ID2;
-            limit = turret.heatLimit17ID2;
             break;
         case HERO:
             heat = turret.heat42;
-            limit = turret.heatLimit42;
             break;
     }
 
-    return limit - heat;
+    return turret.heatLimit - heat;
 }
 }  // namespace power_limiter
diff --git a/ut-robomaster/src/utils/power_limiter/barrel_cooldown.hpp b/ut-robomaster/src/utils/power_limiter/barrel_cooldown.hpp
@@ -11,5 +11,5 @@ enum BarrelId
     HERO        // 42
 };
 
-float getRemainingCooldown(src::Drivers *drivers, BarrelId id);
+float getRemainingHeat(src::Drivers *drivers, BarrelId id);
 }  // namespace power_limiter