Merge remote-tracking branch 'origin/projektarbeit' into testProjekttoBachelor but only motor things

include/moveControl.h

@@ -87,6 +87,7 @@ public:
      * @param status
      */
     void setDrivingStatus(Status status);
+    Status getDrivingStatus() const { return this->driving_status; }
 
     /**
      * @brief Stops the engine immediately

lib/MotorControl/motorControl.cpp

@@ -33,6 +33,7 @@ void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8
     ledcSetup(this->pwmChannel, MotorControl::pwmFreq, MotorControl::pwmRes);
     ledcAttachPin(this->pwmPin, this->pwmChannel);
     ledcWrite(this->pwmChannel, 0);
+    std::cout << "Init pwm" << std::endl;
 }
 
 void MotorControl::run()
@@ -56,7 +57,7 @@ void MotorControl::run()
         return;
     }
 
-    // Positive or negative tagret speed
+    // Positive or negative target speed
     if (this->targetPower >= 0)
     {
         // Positive or negative speed
@@ -97,28 +98,6 @@ void MotorControl::run()
     }
 }
 
-void MotorControl::setMinPwm(uint8_t min)
-{
-    if (min > MotorControl::maxPwmMin)
-    {
-        min = MotorControl::maxPwmMin;
-    }
-    // transform percentage to real pwm value
-    min = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (min / 100.0));
-    this->dutycycleMin = min;
-}
-
-void MotorControl::setMaxPwm(uint8_t max)
-{
-    if (max > 100)
-    {
-        max = 100;
-    }
-    // transform percentage to real pwm value
-    max = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (max / 100.0));
-    this->dutycycleMax = max;
-}
-
 void MotorControl::setTargetPower(int8_t power)
 {
     if (power <= 100 && power >= -100)
@@ -158,7 +137,6 @@ bool MotorControl::isAccelerationNegative() const
 
 void MotorControl::setRealPower(int8_t power)
 {
-    // TODO: Exceptionhandling
     if (power <= 100 && power >= -100)
     {
         this->power = power;
@@ -175,10 +153,11 @@ void MotorControl::setRealPower(int8_t power)
         digitalWrite(this->dir_2, LOW);
         ledcWrite(this->pwmChannel, 0);
         this->dutycycle = 0;
+        // std::cout << "abort" << std::endl;
         return;
     }
 
-    const uint8_t pwm_val = map(abs(power), 0, 100, this->dutycycleMin, this->dutycycleMax);
+    const uint8_t pwm_val = map(abs(power), 0, 100, MotorControl::minPwmVal, MotorControl::maxPwmVal);
 
     if ((this->direction == 1 || this->direction == 0) && power < 0)
     { // new direction backward
@@ -193,6 +172,7 @@ void MotorControl::setRealPower(int8_t power)
         digitalWrite(this->dir_2, LOW);
     }
 
+    std::cout << "MotorControl::setRealPower pwm_val: " << (int) pwm_val << " channel:" << (int) this->pwmChannel << std::endl;
     ledcWrite(this->pwmChannel, pwm_val);
     std::cout << "MotorControl::serRealPower - pwm: " << static_cast<int>(pwm_val) << std::endl;
     this->dutycycle = pwm_val;
@@ -200,8 +180,6 @@ void MotorControl::setRealPower(int8_t power)
 
 void MotorControl::increasePower(int8_t power)
 {
-    // TODO: Exceptionhandling
-    // TODO: make a stop befor a direction change
     if (abs(power) > 2 * MotorControl::powerSteps)
     {
         Serial.println("Invalid Argument in MotorControl::increasePower");

lib/MotorControl/motorControl.h

@@ -38,20 +38,6 @@ public:
      */
     void init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2);
 
-    /**
-     * @brief Set the minimum duty cycle
-     *
-     * @param min duty cycle in percent
-     */
-    void setMinPwm(uint8_t min);
-
-    /**
-     * @brief Set the maximum duty cycle
-     *
-     * @param max duty cycle in percent
-     */
-    void setMaxPwm(uint8_t max);
-
     /**
      * @brief Set the Target Power
      *
@@ -103,6 +89,8 @@ private:
     static constexpr uint8_t pwmRes = 8;
     static constexpr uint8_t powerSteps = 2; //  A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
     static constexpr uint8_t maxPwmMin = 80;
+    static constexpr uint8_t maxPwmVal = 250;
+    static constexpr uint8_t minPwmVal = 55; // Max 98% of 2^PWM_RES
 
     int8_t targetPower = 0;
     int8_t power = 0;
@@ -111,8 +99,6 @@ private:
     uint8_t pwmPin = 0;
     uint8_t pwmChannel = 0;
     uint16_t dutycycle = 0;
-    uint8_t dutycycleMin = 55;
-    uint8_t dutycycleMax = 98; // Max 98% of 2^PWM_RES
     uint8_t dir_1 = 0;
     uint8_t dir_2 = 0;
 };

src/driveModi/Modi/ManualControl/manualControl.cpp

@@ -47,7 +47,7 @@ void ManualControl::analogControl()
 
 void ManualControl::digitalControl()
 {
-    static constexpr uint8_t deadzone = 120;
+    static constexpr uint8_t deadzone = 110;
     const int16_t yAxis = this->input->x - 127;
     const int16_t xAxis = this->input->y - 127;