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clean main.cpp, clean moveControl.cpp

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added classdiagramm and ManualControl
This commit is contained in:
kleiax
2021-05-12 13:54:51 +02:00
parent 4c2cdcb040
commit 360a89b25c
12 changed files with 341 additions and 288 deletions
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src/moveControl.cpp
+2 -126
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@@ -64,99 +64,7 @@ void MoveControl::regulateMotors() {
this->right_motor->setTargetPower(0);
break;
case DrivingStatus::straightForward :
// Left motor
// Too slow
if (this->left_speedometer->getSpeed() < this->wheelspeed_left_target
&& this->left_speedometer->getSpeed() <= this->right_speedometer->getSpeed()) {
this->left_motor->setTargetPower(this->left_motor->getTargetPower() + ACCELERATE_STEPS);
// Too fast
} else if (this->left_speedometer->getSpeed() > this->wheelspeed_left_target
&& this->left_speedometer->getSpeed() >= this->right_speedometer->getSpeed()) {
this->left_motor->setTargetPower(this->left_motor->getTargetPower() - ACCELERATE_STEPS);
}
// Right motor
// Too slow
if (this->right_speedometer->getSpeed() < this->wheelspeed_right_target
&& this->right_speedometer->getSpeed() <= this->left_speedometer->getSpeed()) {
this->right_motor->setTargetPower(this->right_motor->getTargetPower() + ACCELERATE_STEPS);
// Too fast
} else if (this->right_speedometer->getSpeed() > this->wheelspeed_right_target
&& this->right_speedometer->getSpeed() >= this->left_speedometer->getSpeed()) {
this->right_motor->setTargetPower(this->right_motor->getTargetPower() - ACCELERATE_STEPS);
}
break;
case DrivingStatus::straightBackward :
// Left motor
// Too slow
if (this->left_speedometer->getSpeed() > this->wheelspeed_left_target
&& this->left_speedometer->getSpeed() >= this->right_speedometer->getSpeed()) {
this->left_motor->setTargetPower(this->left_motor->getTargetPower() - ACCELERATE_STEPS);
// Too fast
} else if (this->left_speedometer->getSpeed() < this->wheelspeed_left_target
&& this->left_speedometer->getSpeed() <= this->right_speedometer->getSpeed()) {
this->left_motor->setTargetPower(this->left_motor->getTargetPower() + ACCELERATE_STEPS);
}
// Right motor
// Too slow
if (this->right_speedometer->getSpeed() > this->wheelspeed_right_target
&& this->right_speedometer->getSpeed() >= this->left_speedometer->getSpeed()) {
this->right_motor->setTargetPower(this->right_motor->getTargetPower() - ACCELERATE_STEPS);
// Too fast
} else if (this->right_speedometer->getSpeed() < this->wheelspeed_right_target
&& this->right_speedometer->getSpeed() <= this->left_speedometer->getSpeed()) {
this->right_motor->setTargetPower(this->right_motor->getTargetPower() + ACCELERATE_STEPS);
}
break;
case DrivingStatus::arcForwardLeft : // Identical with arcForwardRight
ratio = this->wheelspeed_left_target / this->wheelspeed_right_target;
// Left motor
// Too slow
if (this->left_speedometer->getSpeed() < this->wheelspeed_left_target
&& this->left_speedometer->getSpeed() <= (this->right_speedometer->getSpeed()) * ratio) {
this->left_motor->setTargetPower(this->left_motor->getTargetPower() + ACCELERATE_STEPS);
// Too fast
} else if (this->left_speedometer->getSpeed() > this->wheelspeed_left_target
&& this->left_speedometer->getSpeed() >= (this->right_speedometer->getSpeed()) * ratio) {
this->left_motor->setTargetPower(this->left_motor->getTargetPower() - ACCELERATE_STEPS);
}
// Right motor
// Too slow
if (this->right_speedometer->getSpeed() < this->wheelspeed_right_target
&& (this->right_speedometer->getSpeed() * ratio) <= this->left_speedometer->getSpeed()) {
this->right_motor->setTargetPower(this->right_motor->getTargetPower() + ACCELERATE_STEPS);
// Too fast
} else if (this->right_speedometer->getSpeed() > this->wheelspeed_right_target
&& (this->right_speedometer->getSpeed() * ratio) >= this->left_speedometer->getSpeed()) {
this->right_motor->setTargetPower(this->right_motor->getTargetPower() - ACCELERATE_STEPS);
}
break;
case DrivingStatus::arcForwardRight : // Identical with arcForwardLeft
case DrivingStatus::forward :
ratio = this->wheelspeed_left_target / this->wheelspeed_right_target;
// Left motor
@@ -188,39 +96,7 @@ void MoveControl::regulateMotors() {
}
break;
case DrivingStatus::arcBackwardLeft : // Identical with arcBackwardRight
ratio = this->wheelspeed_left_target / this->wheelspeed_right_target;
// Left motor
// Too slow
if (this->left_speedometer->getSpeed() > this->wheelspeed_left_target
&& this->left_speedometer->getSpeed() >= (this->right_speedometer->getSpeed() * ratio)) {
this->left_motor->setTargetPower(this->left_motor->getTargetPower() - ACCELERATE_STEPS);
// Too fast
} else if (this->left_speedometer->getSpeed() < this->wheelspeed_left_target
&& this->left_speedometer->getSpeed() <= (this->right_speedometer->getSpeed() * ratio)) {
this->left_motor->setTargetPower(this->left_motor->getTargetPower() + ACCELERATE_STEPS);
}
// Right motor
// Too slow
if (this->right_speedometer->getSpeed() > this->wheelspeed_right_target
&& (this->right_speedometer->getSpeed() * ratio) >= this->left_speedometer->getSpeed()) {
this->right_motor->setTargetPower(this->right_motor->getTargetPower() - ACCELERATE_STEPS);
// Too fast
} else if (this->right_speedometer->getSpeed() < this->wheelspeed_right_target
&& (this->right_speedometer->getSpeed() * ratio) <= this->left_speedometer->getSpeed()) {
this->right_motor->setTargetPower(this->right_motor->getTargetPower() + ACCELERATE_STEPS);
}
break;
case DrivingStatus::arcBackwardRight : // Identical with arcBackwardLeft
case DrivingStatus::backward :
ratio = this->wheelspeed_left_target / this->wheelspeed_right_target;
// Left motor