kleiax/Bachelorarbeit-Rover
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added digital control to manualControl

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kleiax
2023-08-08 14:48:15 +02:00
parent 4540966f87
commit 115da0f8a8
5 changed files with 96 additions and 29 deletions
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include/Version.h
+2 -2
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@@ -1,9 +1,9 @@
// AUTO GENERATED FILE, DO NOT EDIT
#ifndef VERSION
#define VERSION "0.1.10"
#define VERSION "0.8.20"
#endif
#ifndef BUILD_TIMESTAMP
#define BUILD_TIMESTAMP "2023-08-07 22:02:51.554203"
#define BUILD_TIMESTAMP "2023-08-08 14:33:17.266785"
#endif
src/SpecialMenus/driveModi/ManualDrive/menuManualDrive.cpp
+27 -16
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@@ -27,45 +27,53 @@ void MenuManualControl::printPage() const {
break;
case 1:
lineOne = "Speed: ";
lineOne.concat(this->manualControl->getMaxSpeed());
lineTwo = "Increase by 0.1";
lineOne = "Input mode:";
if (this->manualControl->getInputMode() == ManualControl::InputMode::Analog)
lineTwo = "Analog";
else
lineTwo = "Digital";
break;
case 2:
lineOne = "Speed: ";
lineOne.concat(this->manualControl->getMaxSpeed());
lineTwo = "Decrease by 0.1";
lineTwo = "Increase by 0.1";
break;
case 3:
lineOne = "RotSpeed: ";
lineOne.concat(this->manualControl->getMaxRotation());
lineTwo = "Increase by 0.1";
lineOne = "Speed: ";
lineOne.concat(this->manualControl->getMaxSpeed());
lineTwo = "Decrease by 0.1";
break;
case 4:
lineOne = "RotSpeed: ";
lineOne.concat(this->manualControl->getMaxRotation());
lineTwo = "Decrease by 0.1";
lineTwo = "Increase by 0.1";
break;
case 5:
lineOne = "RotSpeed: ";
lineOne.concat(this->manualControl->getMaxRotation());
lineTwo = "Decrease by 0.1";
break;
case 6:
lineOne = "Dutycycle Left:";
lineTwo.concat(this->manualControl->getDutycycleLeft());
break;
case 6:
case 7:
lineOne = "Dutycycle Right:";
lineTwo.concat(this->manualControl->getDutycycleRight());
break;
case 7:
case 8:
lineOne = "Azimuth:";
lineTwo.concat(this->driveManager->getNavigation()->getAzimuth());
break;
case 8: {
case 9: {
UBX_NAV_PVT_data_t* gpsData = this->driveManager->getNavigation()->getUbxData();
lineOne = "magDec: ";
lineTwo = "magAcc: ";
@@ -91,29 +99,32 @@ void MenuManualControl::init() {
this->firstPrint = false;
this->driveManager->changeModus(Modi::ManualControl);
this->manualControl = (ManualControl*) this->driveManager->getDriveModiPtr();
this->setCountPages(9);
this->setCountPages(10);
this->updateDelay = 500;
}
void MenuManualControl::runCommand() const {
switch (this->getCurrentPage()) {
case 1:
this->manualControl->increaseMaxSpeed();
this->manualControl->switchInputMode();
break;
case 2:
this->manualControl->decreaseMaxSpeed();
this->manualControl->increaseMaxSpeed();
break;
case 3:
this->manualControl->increaseMaxRotation();
this->manualControl->decreaseMaxSpeed();
break;
case 4:
this->manualControl->increaseMaxRotation();
break;
case 5:
this->manualControl->increaseMaxRotation();
break;
default:
break;
}
src/driveModi/Modi/ManualControl/manualControl.cpp
+41 -3
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@@ -26,14 +26,30 @@ void ManualControl::loop() {
if (this->caliCompass)
this->caliCompass->loop();
if (millis() - this->lastMillis < delay) {
if (millis() - this->lastMillis < delay)
return;
switch (this->inputMode) {
case InputMode::Analog :
this->analogControl();
break;
case InputMode::Digital :
this->digitalControl();
break;
default:
break;
}
this->runManualControl();
this->lastMillis = millis();
}
void ManualControl::runManualControl() {
void ManualControl::switchInputMode() {
this->inputMode = (this->inputMode == InputMode::Analog) ? InputMode::Digital : InputMode::Analog;
}
void ManualControl::analogControl() {
// Have to be int16_t to avoid overflow (int8_t = 255 - 127 = -128)
int16_t y = this->input->x - 127;
int16_t x = this->input->y - 127;
@@ -49,3 +65,25 @@ void ManualControl::runManualControl() {
value_per_step = this->max_rotation * 2 / 256;
this->moveControl->setRotationSpeed(x * value_per_step);
}
void ManualControl::digitalControl() {
int16_t y = this->input->x - 127;
int16_t x = this->input->y - 127;
if (y > 120)
this->moveControl->setSpeed(-this->max_speed);
else if (y < -120)
this->moveControl->setSpeed(this->max_speed);
else
this->moveControl->setSpeed(0);
if (x > 120)
this->moveControl->setRotationSpeed(this->max_rotation);
else if (x < -120)
this->moveControl->setRotationSpeed(-this->max_rotation);
else
this->moveControl->setRotationSpeed(0);
if (this->directionChangeWrapper && (x > 120 || x < -120))
this->directionChangeWrapper->action();
}
src/driveModi/Modi/ManualControl/manualControl.h
+25 -7
View File
@@ -16,6 +16,11 @@
#include "controlPadInput.h"
#include "calibrateCompass.h"
class DirectionChangeWrapper {
public:
virtual void action() = 0;
};
/**
* @brief Drive the Rover with a Joystick
*
@@ -26,6 +31,11 @@
*/
class ManualControl : public DriveModi {
public:
enum class InputMode : uint8_t {
Analog,
Digital
};
ManualControl(MoveControl *moveControl, const ControlPadInput *input);
/**
@@ -35,7 +45,7 @@ class ManualControl : public DriveModi {
~ManualControl();
/**
* @brief Calls runManualControl() to update all values.
* @brief Calls analogControl() to update all values.
*
* This function should be called every mainloop. If the delay is not reached, than the
* functions returns immediately.
@@ -44,12 +54,6 @@ class ManualControl : public DriveModi {
*/
void loop() override;
/**
* @brief Noramly called repeatedly by loop() to calcluate new values.
* Set new values for speed and rotation in moveControl
*/
void runManualControl();
/**
* @brief Set the min delay between each loop
*
@@ -79,6 +83,11 @@ class ManualControl : public DriveModi {
void setCalibrateCompass(CalibrateCompass* val = nullptr) { this->caliCompass = val; }
void switchInputMode();
void setInputMode(InputMode mode) { this->inputMode = mode; }
InputMode getInputMode() const { return this->inputMode; }
void setDirectionChangeCallback(DirectionChangeWrapper* callback) { this->directionChangeWrapper = callback; }
uint16_t getDutycycleLeft() const { return this->moveControl->getDutycycleLeft(); }
uint16_t getDutycycleRight() const { return this->moveControl->getDutycycleRight(); }
@@ -87,11 +96,20 @@ class ManualControl : public DriveModi {
const ControlPadInput* input;
private:
/**
* @brief Noramly called repeatedly by loop() to calcluate new values.
* Set new values for speed and rotation in moveControl
*/
void analogControl();
void digitalControl();
uint32_t lastMillis = 0;
uint8_t delay = 10;
double max_speed = 1;
double max_rotation = 7;
CalibrateCompass* caliCompass = nullptr;
DirectionChangeWrapper* directionChangeWrapper = nullptr;
InputMode inputMode = InputMode::Analog;
};
#endif // MANUAL_CONTROL_H
version
+1 -1
View File
@@ -1 +1 @@
0.1.10
0.8.20