kleiax/Bachelorarbeit-Rover
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finished speed and sensor menu in modes

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This commit is contained in:
kleiax
2023-09-29 11:30:13 +02:00
parent d7357d4f95
commit 45264c6481
17 changed files with 96 additions and 78 deletions
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src/moveControl.cpp
+11 -6
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@@ -105,20 +105,25 @@ void MoveControl::emergencyStop() {
void MoveControl::setSpeed(double speed) {
if (speed < 0.2 && speed > -0.2) {
this->x_speed = 0;
this->drivingSpeeds.x = 0;
return;
}
this->x_speed = speed;
this->drivingSpeeds.x = speed;
}
void MoveControl::setRotationSpeed(double speed) {
if (speed < 0.1 && speed > -0.1){
this->rotation_speed = 0;
this->drivingSpeeds.rot = 0;
return;
}
this->rotation_speed = speed;
this->drivingSpeeds.rot = speed;
}
void MoveControl::setSpeeds(DrivingSpeeds drivingSpeeds) {
this->setSpeed(drivingSpeeds.x);
this->setRotationSpeed(drivingSpeeds.rot);
}
void MoveControl::setRawPowerLeft(int16_t power) {
@@ -169,8 +174,8 @@ void MoveControl::calcTargetWheelSpeed() {
// (1 / r) * b
constexpr double B = 2.096518987;
this->wheelspeed_right_target = (A * this->x_speed + B * this->rotation_speed) * (Settings::wheelDiameter / 2);
this->wheelspeed_left_target = (A * this->x_speed + (-B) * this->rotation_speed) * (Settings::wheelDiameter / 2);
this->wheelspeed_right_target = (A * this->drivingSpeeds.x + B * this->drivingSpeeds.rot) * (Settings::wheelDiameter / 2);
this->wheelspeed_left_target = (A * this->drivingSpeeds.x + (-B) * this->drivingSpeeds.rot) * (Settings::wheelDiameter / 2);
}
void MoveControl::regulateMotors() {