Lauffähig und aufgeräumt

doc/PinBelegungen.txt

@@ -1,20 +1,20 @@
 ESP32 Rover Pinbelegung
 
 		3V3				GND
-		x				23		DirB1
+		x				23		DirR1
-		x				22		DirB2
+		x				22		PWMR
-		x				x
+		x				TX		PC
-		x				x
+		x				RX		PC
-		x				21
+AKKU	35				21
-INTA1	32				GND
+INTL1	32				GND
-INTA2	33				19
+INTL2	33				19
 INTB1	25				18
 INTB2	26				5
-PWMA	27				x
+DirL1	27				TX		GPS
-PWMB	14				x
+DirR2	14				RX		GPS
-DirA1	12				4
+DirL2	12				4		SD-Card
 		GND				x
-DirA2	13				2
+PWML	13				2		SD-Card
 		x				15
 		x				x
 		CMD				x

include/network.h

@@ -1,7 +1,7 @@
 /**
  * @file network.h
  * @author Alexander Klein (alex@kleiax.de)
- * @brief Some network and MQTT stuff
+ * @brief TODO: write some stuff here too
  * @version 0.1
  * @date 2021-12-14
  * 
@@ -19,18 +19,24 @@
 
 #define MQTT_TIME_RECONNECT 2500
 
-IPAddress local_IP;
+class Network {
-extern IPAddress gateway;
+    public:
-extern IPAddress subnet;
+        static void setIps();
-extern IPAddress mqtt_server;
+        static void connectWifi();
+        static void setupMQTT();
+        static void checkMQTT();
+        static PubSubClient* getMqtttClient();
 
-extern WiFiClient wifi_client;
+    private:
-PubSubClient mqtt_client(wifi_client);
+        static bool connectMQTT();
 
-void setIps();
+        static IPAddress local_IP;
-void connectWifi();
+        static IPAddress gateway;
-void setupMQTT();
+        static IPAddress subnet;
-bool connectMQTT();
+        static IPAddress mqtt_server;
-void checkMQTT();
+
+        static WiFiClient wifi_client;
+        static PubSubClient* mqtt_client;
+};
 
 #endif // NETWORK_H

lib/MotorControl/motorControl.cpp

@@ -94,14 +94,14 @@ void MotorControl::runMotorControl() {
 void MotorControl::setMinPwm(uint8_t min) {
     if (min > 80) min = 80;
     //transform percentage to real pwm value
-    min = (uint8_t) (((1 >> pwm_res) - 1) * (min / 100));
+    min = (uint8_t) (((1 << pwm_res) - 1) * (min / 100.0));
     this->dutycycle_min = min;
 }
 
 void MotorControl::setMaxPwm(uint8_t max) {
     if (max > 100) max = 100;
     //transform percentage to real pwm value
-    max = (uint8_t) (((1 >> pwm_res) - 1) * (max / 100));
+    max = (uint8_t) (((1 << pwm_res) - 1) * (max / 100.0));
     this->dutycycle_max = max;
 }
 
@@ -166,7 +166,7 @@ void MotorControl::setRealPower(int8_t power) {
         return;
     }
 
-    if (power == 0) {
+    if (this->power == 0) {
         this->direction = 0;
         digitalWrite(this->dir_1, LOW);
         digitalWrite(this->dir_2, LOW);

src/driveModi/Modi/ManualControl/manualControl.cpp

@@ -24,10 +24,14 @@ void ManualControl::init(MoveControl *moveControl) {
 }
 
 void ManualControl::loop() {
+    this->moveControl->loop();
+
     static uint32_t last_millis = 0;
     if (millis() - last_millis < delay) {
         return;
     }
+    this->runManualControl();
+    last_millis = millis();
 }
 
 void ManualControl::runManualControl() {

src/driveModi/driveManager.cpp

@@ -16,8 +16,8 @@ DriveManager::DriveManager(MoveControl *moveControl) {
 }
 
 void DriveManager::loop() {
-    this->currentModus->loop();
+    if (currentModus)
-    this->moveControl->loop();
+        this->currentModus->loop();
 }
 
 void DriveManager::runDriveManager() {

src/main.cpp

@@ -18,19 +18,22 @@ DriveManager driveManager(&moveController);
 
 void setup() {
     Serial.begin(115200);
+    Serial.println("Welcome...");
 
-    setIps();
+    Network::setIps();
-    connectWifi();
+    Network::connectWifi();
-    setupMQTT();
+    Network::setupMQTT();
 
     Ps3.attach(callbackControllerAction);
     Ps3.attachOnConnect(callbackControllerConnect);
     Serial.println("\nReady to connect a PS3 Controller... \n");
     Ps3.begin();
+
+    driveManager.changeModus(Modi::ManualControl);
 }
 
 void loop() {
-    checkMQTT();
+    Network::checkMQTT();
     driveManager.loop();
 }
 

src/moveControl.cpp

@@ -1,8 +1,8 @@
 #include "moveControl.h"
 
 MoveControl::MoveControl() {
-    this->left_motor = new MotorControl;
+    this->left_motor = new MotorControl();
-    this->right_motor = new MotorControl;
+    this->right_motor = new MotorControl();
     this->left_speedometer = new Speedometer;
     this->right_speedometer = new Speedometer;
 
@@ -113,7 +113,6 @@ void MoveControl::regulateMotors() {
     case DrivingStatus::drive :
         this->left_motor->setTargetPower( (int8_t) this->left_pid_out);
         this->right_motor->setTargetPower( (int8_t) this->right_pid_out);
-        
         break;
 
     default:

src/network.cpp

@@ -1,7 +1,7 @@
 /**
  * @file network.cpp
  * @author Alexander Klein (alex@kleiax.de)
- * @brief Contains function implementation of network.h
+ * @brief TODO: write some stuff
  * @version 0.1
  * @date 2021-12-14
  * 
@@ -10,36 +10,50 @@
  */
 
 #include "network.h"
-void setIps() {
+
+IPAddress Network::local_IP;
+IPAddress Network::gateway;
+IPAddress Network::subnet;
+IPAddress Network::mqtt_server;
+
+WiFiClient Network::wifi_client;
+PubSubClient* Network::mqtt_client;
+
+void Network::setIps() {
     local_IP.fromString(WLAN_IP);
     gateway.fromString(WLAN_GATEWAY);
     subnet.fromString(WLAN_SUBNETMASK);
     mqtt_server.fromString(MQTT_SERVER);
 }
 
-void setupMQTT() {
+void Network::setupMQTT() {
-    mqtt_client.setServer(mqtt_server, MQTT_PORT);
+    mqtt_client = new PubSubClient(wifi_client);
+    mqtt_client->setServer(mqtt_server, MQTT_PORT);
     // mqtt_client.setServer(MQTT_SERVER, MQTT_PORT);
-    mqtt_client.setSocketTimeout(1);
+    Network::mqtt_client->setSocketTimeout(1);
+    mqtt_client->setSocketTimeout(1);
     connectMQTT();
 }
 
-bool connectMQTT() {
+bool Network::connectMQTT() {
     // Create a random client ID
     String clientId = "ESP32Rover-";
     clientId += String(random(0xffff), HEX);
+
     #ifdef MQTT_AUTH
-    if (mqtt_client.connect(clientId.c_str(), MQTT_USER, MQTT_PASSWORD)) {
+        if (mqtt_client->connect(clientId.c_str(), MQTT_USER, MQTT_PASSWORD)) {
     #endif //MQTT_AUTH
+
     #ifndef MQTT_AUTH
-    if (mqtt_client.connect(clientId.c_str())) {
+        if (mqtt_client->connect(clientId.c_str())) {
     #endif //MQTT_AUTH
+
         // Once connected, publish an announcement...
-        mqtt_client.publish("Rover/Info", "Connected to Mqtt-Broker");
+        mqtt_client->publish("Rover/Info", "Connected to Mqtt-Broker");
     }
-    return mqtt_client.connected();
+    return mqtt_client->connected();
 }
-void connectWifi() {
+void Network::connectWifi() {
    // Configures static IP address
     if (!WiFi.config(local_IP, gateway, subnet)) {
         Serial.println("STA Failed to configure");
@@ -61,9 +75,9 @@ void connectWifi() {
     Serial.println(WiFi.localIP()); 
 }
 
-void checkMQTT() {
+void Network::checkMQTT() {
     static uint64_t lastReconnectAttempt = 0;
-    if (!mqtt_client.connected()) {
+    if (!mqtt_client->connected()) {
         long now = millis();
         if (now - lastReconnectAttempt > MQTT_TIME_RECONNECT) {
             lastReconnectAttempt = now;
@@ -72,5 +86,9 @@ void checkMQTT() {
                 lastReconnectAttempt = 0;
         }
     } else
-    mqtt_client.loop();
+    mqtt_client->loop();
+}
+
+PubSubClient* Network::getMqtttClient() {
+    return mqtt_client;
 }