Fix kicker state machine

RoboCupULaval / RobotMCU

http://robocupulaval.com/

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Open PhiBabin opened 6 years ago

PhiBabin commented 6 years ago

The kicker state machine has some problems:

The kick command does not "arm" the kick
When the bank is full, the state machine switch back and forth between READY_TO_KICK and CHARGING.
- The timeout on ball wait is reset only when waiting for a ball and not in another state

TwistedSim commented 6 years ago

I'm not sure that the "is_charge" pin from the kicker is working.

PhiBabin commented 6 years ago

Should we put a timer? Is there a way to guest if the capacitor is charged?

TwistedSim commented 6 years ago

We should debug the ouput on the kicker. For the moment assume the capacitor charge in ~500ms