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kleiax
2021-07-02 08:03:00 +02:00
parent 3b9b2f19f2
commit 4df275ddc0
8 changed files with 99 additions and 30 deletions
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src/driveModi/manualControl.cpp
+43 -9
View File
@@ -19,19 +19,44 @@ void ManualControl::runManualControl() {
if (millis() - this->last_millis < RUN_MANUALCONTROL_DELAY) {
return;
}
//Reset if this function was called a long time ago
if (millis() - this->last_millis > 1000) {
this->reset();
controlMode = ControMode::halt;
debug->sendMsg(Loglevel::info, "Changed ControlMode to halt by Timereset");
}
this->last_millis = millis();
switch (this->drive_mode) {
case DriveMode::stop:
//Change controlMode
if (this->controlMode == ControMode::halt && Ps3.data.button.l3) {
this->reset();
controlMode = ControMode::joystick;
debug->sendMsg(Loglevel::info, "Changed ControlMode to Joystick by Gamepad");
} else if (this->controlMode == ControMode::halt && Ps3.data.button.r3) {
this->reset();
controlMode = ControMode::trigger;
debug->sendMsg(Loglevel::info, "Changed ControlMode to ShoulderTrigger by Gamepad");
} else if (this->controlMode == ControMode::joystick && Ps3.data.button.r3) {
this->reset();
controlMode = ControMode::trigger;
debug->sendMsg(Loglevel::info, "Changed ControlMode to ShoulderTrigger by Gamepad");
} else if (this->controlMode == ControMode::trigger && Ps3.data.button.l3) {
this->reset();
controlMode = ControMode::joystick;
debug->sendMsg(Loglevel::info, "Changed ControlMode to Joystick by Gamepad");
}
switch (this->controlMode) {
case ControMode::halt:
this->reset();
break;
case DriveMode::joystick:
case ControMode::joystick:
this->driveWithControllerJoystick();
this->moveControl->runMoveControl();
break;
case DriveMode::trigger:
case ControMode::trigger:
this->driveWithControllerShoulderTrigger();
break;
@@ -46,21 +71,30 @@ void ManualControl::driveWithControllerJoystick() {
double value_per_step = MANUALCONTROL_MAX_SPEED * 2 / 256;
this->moveControl->setSpeed((y * -1) * value_per_step);
char str[64];
sprintf(str, "%f", (y * -1) * value_per_step);
debug->sendMsg(Loglevel::debug, str);
value_per_step = MANUALCONTROL_MAX_ROTATION * 2 / 256;
this->moveControl->setRotationspeed(x * value_per_step);
}
void ManualControl::changeDriveMode(DriveMode drive_mode) {
this->drive_mode = drive_mode;
void ManualControl::changeDriveMode(ControMode drive_mode) {
this->reset();
controlMode = drive_mode;
debug->sendMsg(Loglevel::info, "Changed ControlMode by function");
}
void ManualControl::driveWithControllerShoulderTrigger() {
uint8_t nowL = Ps3.data.analog.button.l2;
uint8_t nowR = Ps3.data.analog.button.r2;
uint8_t nowR = Ps3.data.analog.button.r2;;
map(nowL, 0, 255, 0, 100);
map(nowR, 0, 255, 0, 100);
nowL = map(nowL, 0, 255, 0, 100);
nowR = map(nowR, 0, 255, 0, 100);
// char str[64];
// sprintf(str, "nachher: nowL: %u, nowR: %u", nowL, nowR);
// debug->sendMsg(Loglevel::debug, str);
if (nowL != this->oldL) {
this->motorControlLeft->setTargetPower(nowL);
src/driveModi/manualControl.h
+3 -3
View File
@@ -7,13 +7,13 @@
#include "hardware/motorControl.h"
#include "debugMqtt.h"
enum DriveMode {stop, joystick, trigger};
enum ControMode {halt, joystick, trigger};
class ManualControl {
public:
ManualControl();
void init(MoveControl *moveControl, MotorControl *motorControlLeft, MotorControl *motorControlRight);
void runManualControl();
void changeDriveMode(DriveMode drive_mode);
void changeDriveMode(ControMode drive_mode);
private:
void driveWithControllerJoystick();
@@ -25,7 +25,7 @@ class ManualControl {
MotorControl *motorControlRight;
DebugMqtt *debug;
DriveMode drive_mode = DriveMode::stop;
ControMode controlMode = ControMode::halt;
uint32_t last_millis = 0;
// Is needed for driveWithControllerShoulderTrigger()