kleiax/Bachelorarbeit-Rover
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- remove NtripReconnect from Autopilot and CaptureRoute

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- shiftet moveControl States in the class namespace
- added auto reconeect to NtripClient
- a lot of refactor
This commit is contained in:
kleiax
2023-05-30 23:40:05 +02:00
parent 98b65c4aec
commit 22eb6788c3
18 changed files with 369 additions and 280 deletions
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src/moveControl.cpp
+12 -9
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@@ -47,6 +47,9 @@ MoveControl::~MoveControl() {
delete this->right_motor;
delete this->left_speedometer;
delete this->right_speedometer;
delete this->left_pid;
delete this->right_pid;
}
void MoveControl::loop() {
@@ -91,19 +94,19 @@ void MoveControl::runMoveControl() {
this->regulateMotors();
}
void MoveControl::setDrivingStatus(DrivingStatus status) {
void MoveControl::setDrivingStatus(Status status) {
this->setSpeed(0);
this->setRotationSpeed(0);
this->setRawPowerLeft(0);
this->setRawPowerRight(0);
this->driving_status = status;
// switch (this->driving_status) {
// case DrivingStatus::stop :
// Serial.println("New drivingState = stop in MoveControl::setDrivingStatus");
// case Status::Stop :
// Serial.println("New drivingState = Stop in MoveControl::setDrivingStatus");
// break;
// case DrivingStatus::drive :
// Serial.println("New drivingState = drive in MoveControl::setDrivingStatus");
// case Status::Drive :
// Serial.println("New drivingState = Drive in MoveControl::setDrivingStatus");
// break;
// default:
@@ -119,7 +122,7 @@ void MoveControl::emergencyStop() {
this->setRotationSpeed(0);
this->setRawPowerLeft(0);
this->setRawPowerRight(0);
this->driving_status = DrivingStatus::stop;
this->driving_status = Status::Stop;
}
void MoveControl::setSpeed(double speed) {
@@ -194,21 +197,21 @@ void MoveControl::calcTargetWheelSpeed() {
void MoveControl::regulateMotors() {
switch (this->driving_status) {
case DrivingStatus::stop :
case Status::Stop :
this->left_motor->setTargetPower(0);
this->right_motor->setTargetPower(0);
this->setSpeedometerDirection(this->left_speedometer, 0);
this->setSpeedometerDirection(this->right_speedometer, 0);
break;
case DrivingStatus::drive :
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);
break;
case DrivingStatus::raw :
case Status::Raw :
this->left_motor->setTargetPower(this->rawPowerLeft);
this->right_motor->setTargetPower(this->rawPowerRight);
this->setSpeedometerDirection(this->left_speedometer, this->rawPowerLeft);