moving files

include/moveControl.h

@@ -5,7 +5,7 @@
 #include <PID_v1.h>
 
 #include "motorControl.h"
-#include "speedometer"
+#include "speedometer.h"
 #include "config.h"
 #include "debugMqtt.h"
 #include "debugTimes.h"

include/route.h

@@ -6,8 +6,8 @@
 #include <TinyGPS++.h>
 #include <Arduino.h>
 
-#include "hardware/motorControl.h"
-#include "hardware/speedometer.h"
+#include "motorControl.h"
+#include "speedometer.h"
 #include "debugMqtt.h"
 #include "config.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));
     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));
     this->dutycycle_max = max;
 }
 

lib/Speedometer/speedometer.h

@@ -25,7 +25,7 @@
  * @brief Default value for min Millisseconds between each loop
  * @see setDelay(uint8_t val)
  */
-#define DELAY 30
+#define DELAY_SPEEDOMETER 30
 #define PI 3.1415926535897932384626433832795
 
 /**
@@ -57,7 +57,7 @@ class Speedometer {
          * This function should be called every mainloop. If the delay is not reached, than the
          * functions returns immediately.
          * @see runSpeedometer()
-         * @see DELAY
+         * @see DELAY_SPEEDOMETER
          */
         void loop();
 
@@ -112,7 +112,7 @@ class Speedometer {
 
         uint8_t bufSize = BUFSIZE;
         uint16_t steps;
-        uint8_t delay = DELAY;
+        uint8_t delay = DELAY_SPEEDOMETER;
 
         int16_t *buf;
 };

src/driveModi/consolControl.cpp

@@ -1,5 +1,4 @@
 #include "consolControl.h"
-#include <string>
 
 ConsolControl::ConsolControl() {
     this->debug = new DebugMqtt("ConsolControl");

src/driveModi/consolControl.h

@@ -1,6 +1,8 @@
 #ifndef CONSOL_CONTROL_H
 #define CONSOL_CONTROL_H
 
+#include <string>
+
 #include "moveControl.h"
 #include "debugMqtt.h"
 

src/driveModi/manualControl.cpp

@@ -15,8 +15,6 @@ void ManualControl::init(MoveControl *moveControl, MotorControl *motorControlLef
 }
 
 void ManualControl::runManualControl() {
-    DebugTimes runManualDebuginFunction;
-
     //Cancel if delay is not reached
     if (millis() - this->last_millis < RUN_MANUALCONTROL_DELAY) {
         return;
@@ -29,8 +27,6 @@ void ManualControl::runManualControl() {
     }
     this->last_millis = millis();
 
-    runManualDebuginFunction.stop("Ober teil von runManualControl", 100);
-
     //Change controlMode
     if (this->controlMode == ControMode::halt && Ps3.data.button.l3) {
         this->reset();

src/driveModi/manualControl.h

@@ -4,7 +4,7 @@
 #include <Ps3Controller.h>
 
 #include "moveControl.h"
-#include "hardware/motorControl.h"
+#include "motorControl.h"
 #include "debugMqtt.h"
 #include "debugTimes.h"
 

src/main.cpp

@@ -6,8 +6,8 @@
 
 #include "config.h"
 
-#include "hardware/motorControl.h"
-#include "hardware/speedometer.h"
+#include "motorControl.h"
+#include "speedometer.h"
 #include "driveModi/autopilot.h"
 #include "driveModi/captureRoute.h"
 #include "driveModi/manualControl.h"
@@ -82,7 +82,6 @@ void setup() {
     configTime(3600, 3600, "2.de.pool.ntp.org");
 
     DebugMqtt::init(&mqtt_client, Loglevel::debug);
-    DebugMqtt::initRealMillis();
 
     Ps3.attach(callbackControllerAction);
     Ps3.attachOnConnect(callbackControllerConnect);
@@ -91,11 +90,11 @@ void setup() {
     Ps3.begin();
 
     // Init hardware
-    left_motor.init(M_PWM_1, PWM_CHANNEL_M1, M_DIR_11, M_DIR_12, "left");
-    right_motor.init(M_PWM_2, PWM_CHANNEL_M2, M_DIR_21, M_DIR_22, "right");
+    left_motor.init(M_PWM_1, PWM_CHANNEL_M1, M_DIR_11, M_DIR_12);
+    right_motor.init(M_PWM_2, PWM_CHANNEL_M2, M_DIR_21, M_DIR_22);
 
-    speedometer_left.init(M_ENCODE_1A, M_ENCODE_1B, "left");
-    speedometer_right.init(M_ENCODE_2A, M_ENCODE_2B, "right");
+    speedometer_left.init(M_ENCODE_1A, M_ENCODE_1B, WHEEL_DIAMETER, ENC_STEPS);
+    speedometer_right.init(M_ENCODE_2A, M_ENCODE_2B, WHEEL_DIAMETER, ENC_STEPS);
 
     moveController.init(&left_motor, &right_motor, &speedometer_left, &speedometer_right);
 
@@ -104,11 +103,6 @@ void setup() {
     captureRoute.init(&route, &moveController, &left_motor, &right_motor);
     autopilot.init(&route, &moveController);
     consolControl.init(&moveController);
-
-    //Test checkTimes function
-    DebugTimes testDebugTimes;
-    delay(2);
-    testDebugTimes.stop("Test checkTimes");
 }
 
 void loop() {
@@ -125,18 +119,11 @@ void loop() {
     }
   } else {
     // Client connected
-    DebugTimes mqttClientLoop;
     mqtt_client.loop();
-    mqttClientLoop.stop("mqttloop", 100);
   }   
-
-    DebugTimes runMotorLeft;
+  
     left_motor.runMotorControl();
-    runMotorLeft.stop("left_motor", 100);
-
-    DebugTimes runMotorRight;
     right_motor.runMotorControl();
-    runMotorRight.stop("right_motor", 100);
     
     speedometer_left.runSpeedometer();
     speedometer_right.runSpeedometer();
@@ -144,11 +131,8 @@ void loop() {
     // route.runRoute();
 
     switch (driveMode) {
-        case manualControl_e: {
-            DebugTimes manControlDebug;
+        case manualControl_e:
             manualControl.runManualControl();
-            manControlDebug.stop("manualControl run", 100);
-            }
             break;
 
         case captureRoute_e:

src/moveControl.cpp

@@ -47,11 +47,11 @@ void MoveControl::runMoveControl() {
     DebugTimes pidTimes;
     this->right_pid->Compute();
     this->left_pid->Compute();
-    pidTimes.stop("PID Calulate", 100);
+    pidTimes.stopConsol("PID Calulate", 100);
 
     DebugTimes regMotorTime;
     this->regulateMotors();
-    regMotorTime.stop("regulateMotors", 100);
+    regMotorTime.stopConsol("regulateMotors", 100);
 
     static uint32_t functioncalls = 0;
     functioncalls++;
@@ -62,7 +62,7 @@ void MoveControl::runMoveControl() {
             this->wheelspeed_right);
         DebugTimes debugMsgTime;
         debug->sendMsg(Loglevel::debug, str);
-        debugMsgTime.stop("debug Msg", 100);
+        debugMsgTime.stopConsol("debug Msg", 100);
     }
 }