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refactore
all components now have a base class compnent for loop functions
This commit is contained in:
kleiax
2023-08-18 10:47:35 +02:00
parent 25d37e3970
commit 11d21e2e89
35 changed files with 303 additions and 511 deletions
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src/driveModi/Modi/ManualControl/manualControl.cpp
+22 -21
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@@ -10,25 +10,16 @@
*/
#include "manualControl.h"
ManualControl::ManualControl(MoveControl *moveControl, const ControlPadInput *input) {
this->moveControl = moveControl;
ManualControl::ManualControl(MoveControl* moveControl, const ControlPadInput *input)
: DriveModi(moveControl) {
this->input = input;
this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
}
ManualControl::~ManualControl() {
this->moveControl->setSpeed(0);
this->moveControl->setRotationSpeed(0);
this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
}
void ManualControl::loop() {
if (this->caliCompass)
this->caliCompass->loop();
if (millis() - this->lastMillis < delay)
return;
void ManualControl::run() {
switch (this->inputMode) {
case InputMode::Analog :
this->analogControl();
@@ -41,8 +32,16 @@ void ManualControl::loop() {
default:
break;
}
}
this->lastMillis = millis();
void ManualControl::setCalibrateCompass(CalibrateCompass *caliCompass) {
if (caliCompass) {
this->caliCompass = caliCompass;
this->addChildComponent(this->caliCompass);
} else if (this->caliCompass) {
this->removeChildComponent(this->caliCompass);
this->caliCompass = caliCompass;
}
}
void ManualControl::switchInputMode() {
@@ -51,19 +50,21 @@ void ManualControl::switchInputMode() {
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;
int16_t x = this->input->x - 127;
int16_t y = this->input->y - 127;
// if (x || y) {
// std::cout << "x: " << (int) this->input->x << " y: " << (int) this->input->y << std::endl;
// std::cout << "x: " << (int) x << " y: " << (int) y << std::endl;
// static int counter = 0;
// if (counter % 60 == 0) {
// std::cout << "Input: x: " << (int) this->input->x << " y: " << (int) this->input->y << std::endl;
// std::cout << "Output: x: " << (int) x << " y: " << (int) y << std::endl;
// }
// counter++;
double value_per_step = this->maxForwardSpeed * 2 / UINT8_MAX;
this->moveControl->setSpeed(-y * value_per_step);
this->moveControl->setSpeed(-x * value_per_step);
value_per_step = this->maxRotationSpeed * 2 / UINT8_MAX;
this->moveControl->setRotationSpeed(x * value_per_step);
this->moveControl->setRotationSpeed(y * value_per_step);
}
void ManualControl::digitalControl() {