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fix bug in route add akku menu begin with akkuread

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kleiax
2022-02-05 22:41:25 +01:00
parent aa9bf99349
commit 1ef44864e2
12 changed files with 141 additions and 42 deletions
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.vscode/settings.json
Vendored
+1
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@@ -1,4 +1,5 @@
{
"files.insertFinalNewline": true,
"cSpell.ignoreWords": [
"ledc",
"write"
lib/Akku/akku.cpp
+66
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@@ -0,0 +1,66 @@
/**
* @file akku.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-02-05
*
* @copyright Copyright (c) 2022
*
*/
#include "akku.h"
Akku::Akku(uint8_t pin, double maxVolt, double emptyVolt) {
this->pin = pin;
this->maxVolt = maxVolt;
this->emptyVolt = emptyVolt;
this->updateOnePercent();
}
void Akku::setEmptyVoltage(double volt) {
this->emptyVolt = volt;
this->updateOnePercent();
}
void Akku::setMaxVoltage(double volt) {
this->maxVolt = volt;
this->updateOnePercent();
}
double Akku::getVoltage() {
double rawVoltage = this->readVoltage();
if (this->maxVolt) {
}
return rawVoltage;
}
uint8_t Akku::getPercent() {
uint8_t res = 0;
if (this->emptyVolt)
res = (uint8_t) ((this->getVoltage() - this->emptyVolt) / this->onePercent);
return res;
}
bool Akku::isEmpty() {
if (this->getVoltage() < this->emptyVolt) {
return true;
}
return false;
}
double Akku::readVoltage() {
// Reference voltage is 3v3 so maximum reading is 3v3 = 4095 in range 0 to 4095
double reading = analogRead(this->pin);
if(reading < 1 || reading > 4095) return 0;
return - 0.000000000000016 * pow(reading,4)
+ 0.000000000118171 * pow(reading,3)
- 0.000000301211691 * pow(reading,2)
+ 0.001109019271794 * reading
+ 0.034143524634089;
}
double Akku::updateOnePercent() {
this->onePercent = (this->maxVolt - this->emptyVolt) / 100.0;
}
lib/Akku/akku.h
+46
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@@ -0,0 +1,46 @@
/**
* @file akku.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-02-05
*
* @copyright Copyright (c) 2022
*
*/
#ifndef AKKU_H
#define AKKU_H
#include <stdint.h>
#include <math.h>
#include <Arduino.h>
class Akku {
public:
Akku(uint8_t pin, double maxVolt = 0, double emptyVolt = 0);
void setEmptyVoltage(double volt);
void setMaxVoltage(double volt);
double getVoltage();
uint8_t getPercent();
bool isEmpty();
private:
double readVoltage();
double updateOnePercent();
uint8_t pin;
double maxVolt;
double emptyVolt;
double onePercent;
const float capacityVoltages[21] = {9.82, 10.83, 11.06, 11.12,
11.18, 11.24, 11.3, 11.36,
11.39, 11.45, 11.51, 11.56,
11.62, 11.74, 11.86, 11.95,
12.07, 12.25, 12.33, 12.45,
12.6 };
};
#endif // AKKU_H
lib/Navigation/navigation.cpp
+1 -1
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@@ -131,4 +131,4 @@ double Navigation::courseTo(Point p1, Point p2) {
if (p1.isValid() && p2.isValid())
return TinyGPSPlus::courseTo(p1.lat, p1.lon, p2.lat, p2.lon);
return -1;
}
}
lib/Navigation/route.cpp
+8 -5
View File
@@ -11,6 +11,9 @@
#include "route.h"
// TODO: Delete iostream
#include <iostream>
Route::Route() {
}
@@ -22,16 +25,16 @@ void Route::addPointToRoute(Point point) {
Point Route::startRoute() {
if (this->points.size() < 1)
return Point(0, 0);
*this->it = this->points.begin();
this->it = this->points.begin();
this->currentPoint = 1;
return **this->it;
return *this->it;
}
Point Route::getNextPoint() {
if (*this->it != this->points.end()) {
if (this->it != this->points.end()) {
this->it++;
this->currentPoint++;
return **this->it;
return *this->it;
}
else
return Point(0, 0);
@@ -42,4 +45,4 @@ RouteInfo Route::getRouteInfo() {
info.totalPoints = this->points.size();
info.currentPoint = this->currentPoint;
return info;
}
}
lib/Navigation/route.h
+2 -2
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@@ -49,8 +49,8 @@ class Route {
uint16_t currentPoint = 0;
std::list<Point> points;
std::list<Point>::iterator* it;
std::list<Point>::iterator it;
};
#endif // ROUTE_H
#endif // ROUTE_H
src/SpecialMenus/Akku/menuAkku.cpp
+3 -3
View File
@@ -50,13 +50,13 @@ void MenuAkku::printMenu() {
else sprintf(buf, "UNDEF");
if (this->lcd) {
} else {
lcd->clear();
lcd->setCursor(0, 0);
lcd->printf("Controller: %s", buf);
lcd->setCursor(0, 1);
lcd->printf("Main: %u%%", mainBattery);
} else {
std::cout << "Controller: " << buf << "Main: " << mainBattery << "%" << std::endl;
}
}
@@ -66,4 +66,4 @@ void MenuAkku::update() {
}
this->printMenu();
this->last_millis = millis();
}
}
src/SpecialMenus/Akku/menuAkku.h
+1 -1
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@@ -36,4 +36,4 @@ class MenuAkku : public MenuControl {
};
#endif // MENU_AKKU_H
#endif // MENU_AKKU_H
src/SpecialMenus/GPS/menuGPS.cpp
+1 -1
View File
@@ -129,4 +129,4 @@ void MenuGPS::printPage(uint8_t page) const {
}
break;
}
}
}
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.cpp
+1 -2
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@@ -71,7 +71,6 @@ void MenuAutopilot::printMenu() {
} else
std::cout << buf1 << " " << buf2 << std::endl;
}
void MenuAutopilot::update() {
@@ -91,4 +90,4 @@ void MenuAutopilot::init() {
this->driveManager->changeModus(Modi::Autopilot);
this->autopilot = (Autopilot*) this->driveManager->getDriveModiPtr();
this->routeInfo = this->autopilot->getRouteInfo();
}
}
src/SpecialMenus/driveModi/Autopilot/menuAutopilot.h
+2 -2
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@@ -27,7 +27,7 @@ class MenuAutopilot : public MenuDriveMode {
RouteInfo routeInfo;
uint32_t last_millis = 0;
uint16_t minDelay = 500;
uint16_t minDelay = 1500;
};
#endif // MENU_AUTOPILOT_DRIVE_H
#endif // MENU_AUTOPILOT_DRIVE_H
src/main.cpp
+9 -25
View File
@@ -6,19 +6,18 @@
#include "config.h"
#include "driveModi/Modi/ManualControl/manualControl.h"
#include "driveModi/driveManager.h"
#include "moveControl.h"
#include "network.h"
#include "menu.h"
#include "menuAction.h"
#include "SpecialMenus/PID/menuPidSettings.h"
#include "SpecialMenus/driveModi/ManualDrive/menuManualDrive.h"
#include "SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h"
#include "SpecialMenus/driveModi/Autopilot/menuAutopilot.h"
#include "SpecialMenus/PID/menuPidSettings.h"
#include "SpecialMenus/GPS/menuGPS.h"
#include "SpecialMenus/Akku/menuAkku.h"
MoveControl moveController;
DriveManager driveManager(&moveController);
@@ -69,6 +68,7 @@ void setup() {
MenuCaptureRoute* cap_m = new MenuCaptureRoute(&driveManager);
MenuAutopilot* auto_m = new MenuAutopilot(&driveManager);
MenuGPS* gps_m = new MenuGPS(driveManager.getNavigation()->getGPS());
MenuAkku* akku_m = new MenuAkku();
// Set Menus on LCD
main_m->setLcd(lcd);
@@ -80,6 +80,7 @@ void setup() {
cap_m->setLcd(lcd);
auto_m->setLcd(lcd);
gps_m->setLcd(lcd);
akku_m->setLcd(lcd);
// Entry for the main menu
@@ -87,9 +88,11 @@ void setup() {
MenuAction* gps_e = new MenuAction("GPS", gps_m);
MenuAction* pid_e = new MenuAction("PID", pid_m);
MenuAction* restart_e = new MenuAction("Restart", restart);
MenuAction* akku_e = new MenuAction("Akku", akku_m);
main_m->addEntry(mode_e);
main_m->addEntry(gps_e);
main_m->addEntry(pid_e);
main_m->addEntry(akku_e);
main_m->addEntry(restart_e);
// Entry for the mode Menu
@@ -100,8 +103,8 @@ void setup() {
MenuAction* testMode_e = new MenuAction("Test Mode", dummy);
mode_m->addEntry(autopilot_e);
mode_m->addEntry(captureRoute_e);
mode_m->addEntry(consolControl_e);
mode_m->addEntry(manualControl_e);
mode_m->addEntry(consolControl_e);
mode_m->addEntry(testMode_e);
// Entry for the PID Menu
@@ -143,9 +146,7 @@ void callbackControllerAction() {
else if (Ps3.data.button.circle)
main_m->yes();
else if (Ps3.data.button.cross)
main_m->no();
else if (Ps3.data.button.ps)
controllerPrintBattery();
main_m->no();
isDelayReached(true);
}
@@ -162,26 +163,9 @@ void callbackControllerConnect() {
main_m->printMenu();
}
void controllerPrintBattery() {
static uint8_t controller_battery = -1;
if( controller_battery != Ps3.data.status.battery ){
controller_battery = Ps3.data.status.battery;
}
Serial.print("The controller battery is ");
if( controller_battery == ps3_status_battery_charging ) printf("charging\n");
else if( controller_battery == ps3_status_battery_full ) printf("FULL\n");
else if( controller_battery == ps3_status_battery_high ) printf("HIGH\n");
else if( controller_battery == ps3_status_battery_low) printf("LOW\n");
else if( controller_battery == ps3_status_battery_dying ) printf("DYING\n");
else if( controller_battery == ps3_status_battery_shutdown ) printf("SHUTDOWN\n");
else printf("UNDEFINED\n");
}
void i2cScanner() {
std::cout << "\nI2C Scanner" << std::endl;
byte error, address;
int nDevices;
Serial.println("Scanning...");
@@ -211,4 +195,4 @@ void i2cScanner() {
void restart() {
ESP.restart();
}
}