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put testmode into operation

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kleiax
2023-01-09 15:35:49 +01:00
parent 26d010c6f0
commit 534b1f93d0
4 changed files with 129 additions and 58 deletions
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src/driveModi/Modi/TestMode/testMode.cpp
+34 -34
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@@ -22,8 +22,9 @@ void TestMode::loop() {
if (millis() - this->lastMillis < this->delay)
return;
if (millis() - this->actionStart > this->maneuverTime) {
if (millis() - this->actionStart > this->maneuverTime || this->abort) {
this->busy = false;
this->abort = false;
this->moveControl->setDrivingStatus(DrivingStatus::stop);
}
}
@@ -82,59 +83,58 @@ bool TestMode::drive(int16_t cm, int16_t degree) {
}
bool TestMode::leftEngine(int16_t powerPercentage, int16_t seconds) {
if (this->busy)
return false;
if (powerPercentage >= 100 || powerPercentage <= -100)
return false;
if (true) {
std::cout << "It works... %: " << powerPercentage << " s: " << seconds << std::endl;
return false;
std::cout << "TestMode::leftEngine: 1" << std::endl;
if (this->engineInit(powerPercentage, seconds)) {
this->moveControl->setRawPowerLeft(powerPercentage);
return true;
}
this->actionStart = millis();
this->moveControl->setDrivingStatus(DrivingStatus::raw);
this->moveControl->setRawPowerLeft(powerPercentage);
this->maneuverTime = seconds * 1000;
this->busy = true;
return false;
}
bool TestMode::rightEngine(int16_t powerPercentage, int16_t seconds) {
if (this->busy)
return false;
if (powerPercentage >= 100 || powerPercentage <= -100)
return false;
if (true) {
std::cout << "It works... %: " << powerPercentage << " s: " << seconds << std::endl;
return false;
if (this->engineInit(powerPercentage, seconds)) {
this->moveControl->setRawPowerRight(powerPercentage);
return true;
}
this->actionStart = millis();
this->moveControl->setDrivingStatus(DrivingStatus::raw);
this->moveControl->setRawPowerRight(powerPercentage);
this->maneuverTime = seconds * 1000;
this->busy = true;
return false;
}
bool TestMode::bothEngine(int16_t powerPercentage, int16_t seconds) {
if (this->engineInit(powerPercentage, seconds)) {
this->moveControl->setRawPowerLeft(powerPercentage);
this->moveControl->setRawPowerRight(powerPercentage);;
return true;
}
return false;
}
void TestMode::abortManeuver() {
this->abort = true;
}
uint8_t TestMode::getRemainingManeuverTime() {
if (busy)
return (uint8_t) ((this->maneuverTime - (millis() - this->actionStart)) / 1000);
return 0;
}
bool TestMode::engineInit(int16_t powerPercentage, int16_t seconds) {
if (this->busy)
return false;
if (powerPercentage >= 100 || powerPercentage <= -100)
return false;
if (seconds < 0)
return false;
if (true) {
std::cout << "It works... %: " << powerPercentage << " s: " << seconds << std::endl;
return false;
}
this->actionStart = millis();
this->moveControl->setDrivingStatus(DrivingStatus::raw);
this->moveControl->setRawPowerLeft(powerPercentage);
this->moveControl->setRawPowerRight(powerPercentage);
this->maneuverTime = seconds * 1000;
this->busy = true;
return true;
}