kleiax/Bachelorarbeit-Rover
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cleaning

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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/moveControl.cpp
+10 -36
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@@ -11,6 +11,7 @@
#include "moveControl.h"
MoveControl::MoveControl() {
this->loopDelay = 20;
this->left_motor = new MotorControl();
this->right_motor = new MotorControl();
this->left_speedometer = new Speedometer(M_ENCODE_LEFT, WHEEL_DIAMETER, ENC_STEPS);
@@ -36,7 +37,12 @@ MoveControl::MoveControl() {
this->right_pid->SetMode(AUTOMATIC);
this->left_motor->init(M_PWM_1, PWM_CHANNEL_M1, M_DIR_11, M_DIR_12);
this->right_motor->init(M_PWM_2, PWM_CHANNEL_M2, M_DIR_21, M_DIR_22);
this->right_motor->init(M_PWM_2, PWM_CHANNEL_M2, M_DIR_21, M_DIR_22);
this->addChildComponent(this->left_motor);
this->addChildComponent(this->right_motor);
this->addChildComponent(this->left_speedometer);
this->addChildComponent(this->right_speedometer);
}
MoveControl::~MoveControl() {
@@ -52,39 +58,7 @@ MoveControl::~MoveControl() {
}
void MoveControl::loop() {
uint16_t left_motor_time = this->left_motor->loop();
uint16_t right_motor_time = this->right_motor->loop();
uint16_t left_speed_time = this->left_speedometer->loop();
uint16_t right_speed_time = this->right_speedometer->loop();
if (left_motor_time > 50
|| right_motor_time > 50
|| left_speed_time > 50
|| right_speed_time > 50) {
// Dont count overTimeCounter if one speedometer is in TestMode.
if (left_speed_time == UINT16_MAX || right_speed_time == UINT16_MAX)
this->overTimeCounter--;
this->overTimeCounter++;
if (this->overTimeCounter >= this->overTimeMax) {
char buf[128];
sprintf(buf, "left M: %d, right M %d, left S %d, right S %d in moveControl::loop\n",
left_motor_time, right_motor_time, left_speed_time, right_speed_time);
std::cout << buf;
this->overTimeCounter = 0;
}
}
if (millis() - this->lastMillis < this->delay)
return;
this->runMoveControl();
this->lastMillis = millis();
}
void MoveControl::runMoveControl() {
void MoveControl::run() {
this->updateCurrentWheelSpeed();
this->calcTargetWheelSpeed();
@@ -207,8 +181,8 @@ void MoveControl::regulateMotors() {
case Status::Drive :
this->left_motor->setTargetPower( (int8_t) this->left_pid_out);
this->right_motor->setTargetPower( (int8_t) this->right_pid_out);
this->setSpeedometerDirection(this->left_speedometer, this->left_pid_out);
this->setSpeedometerDirection(this->right_speedometer, this->right_pid_out);
this->setSpeedometerDirection(this->left_speedometer, this->left_motor->getPower());
this->setSpeedometerDirection(this->right_speedometer, this->right_motor->getPower());
break;
case Status::Raw :