kleiax/Bachelorarbeit-Rover
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases 1 Wiki Activity

put testmode into operation

Browse Source
This commit is contained in:
kleiax
2023-01-09 15:35:49 +01:00
parent 26d010c6f0
commit 534b1f93d0
4 changed files with 129 additions and 58 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/SpecialMenus/driveModi/TestMode/menuTestMode.cpp
+67 -15
View File
@@ -12,12 +12,7 @@
MenuTestMode::MenuTestMode(DriveManager* driveManager)
: MenuDriveMode(driveManager) {
// this->testMode = testMode;
// this->values[0] = 0;
// this->values[1] = 0;
// strcpy(this->names[0], "Centimeter");
// strcpy(this->names[1], "Degree");
}
MenuTestMode::~MenuTestMode() {
@@ -36,31 +31,45 @@ void MenuTestMode::printMenu() {
}
void MenuTestMode::down() {
if (this->checkInput())
this->mainMenu->down();
}
void MenuTestMode::up() {
if (this->checkInput())
this->mainMenu->up();
}
void MenuTestMode::right() {
if (this->checkInput())
this->mainMenu->right();
}
void MenuTestMode::left() {
if (this->mainMenu->isInSubmenu())
if (this->checkInput())
this->mainMenu->left();
else {
this->testMode->abortManeuver();
this->mainMenu->left();
}
else
this->parentMenu->printMenu();
}
void MenuTestMode::yes() {
if (this->checkInput())
this->mainMenu->yes();
}
void MenuTestMode::no() {
if (this->mainMenu->isInSubmenu())
if (this->checkInput())
this->mainMenu->no();
else {
this->testMode->abortManeuver();
this->mainMenu->no();
}
else
this->left();
}
@@ -81,10 +90,10 @@ void MenuTestMode::init() {
// Ping google
// WheelEncoder
MenuIntInput* drivingMenu = new MenuIntInput(2, new MenuTestModeWrapper(this->testMode, &TestMode::drive));
MenuIntInput* engineLeftMenu = new MenuIntInput(2, new MenuTestModeWrapper(this->testMode, &TestMode::leftEngine));
MenuIntInput* engineRightMenu = new MenuIntInput(2, new MenuTestModeWrapper(this->testMode, &TestMode::rightEngine));
MenuIntInput* engineBothMenu = new MenuIntInput(2, new MenuTestModeWrapper(this->testMode, &TestMode::bothEngine));
MenuIntInput* drivingMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::drive));
MenuIntInput* engineLeftMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::leftEngine));
MenuIntInput* engineRightMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::rightEngine));
MenuIntInput* engineBothMenu = new MenuIntInput(2, new MenuTestModeWrapper(this, &TestMode::bothEngine));
// Set menus on LCD
@@ -101,18 +110,22 @@ void MenuTestMode::init() {
drivingMenu->setMinMaxSteps(0, -1000, 1000, 25);
drivingMenu->setEntry(1, "Degree");
drivingMenu->setMinMaxSteps(1, -360, 360, 15);
drivingMenu->setPrintParentMenu(false);
engineLeftMenu->setEntry(0, "Percentage");
engineLeftMenu->setMinMaxSteps(0, -100, 100, 5);
engineLeftMenu->setEntry(1, "Seconds", 10);
engineLeftMenu->setEntry(1, "Seconds", 5);
engineLeftMenu->setMinMaxSteps(1, 0, 120, 1);
engineLeftMenu->setPrintParentMenu(false);
engineRightMenu->setEntry(0, "Percentage");
engineRightMenu->setMinMaxSteps(0, -100, 100, 5);
engineRightMenu->setEntry(1, "Seconds", 10);
engineRightMenu->setEntry(1, "Seconds", 5);
engineRightMenu->setMinMaxSteps(1, 0, 120, 1);
engineRightMenu->setPrintParentMenu(false);
engineBothMenu->setEntry(0, "Percentage");
engineBothMenu->setMinMaxSteps(0, -100, 100, 5);
engineBothMenu->setEntry(1, "Seconds", 10);
engineBothMenu->setEntry(1, "Seconds", 5);
engineBothMenu->setMinMaxSteps(1, 0, 120, 1);
engineBothMenu->setPrintParentMenu(false);
// Entrys for the menus
@@ -148,12 +161,46 @@ void MenuTestMode::init() {
lightMenu->addEntry(lightOffAction);
}
MenuTestModeWrapper::MenuTestModeWrapper(TestMode* testMode, TestModeFunctionSingle testModeFunction) {
this->testMode = testMode;
void MenuTestMode::update() {
if (this->maneuverInAction)
if (millis() - this->lastUpdateTime > updateDelay) {
this->printManeuverTime();
this->lastUpdateTime = millis();
}
}
bool MenuTestMode::checkInput() {
if (this->testMode->getBusy()) {
this->printManeuverTime();
this->maneuverInAction = true;
return false;
}
if (this->maneuverInAction)
this->maneuverInAction = false;
return true;
}
void MenuTestMode::printManeuverTime() {
std::cout << "MenuTestMode::printManeuverTime: 1" << std::endl;
String lineTwo = "left ";
std::cout << "MenuTestMode::printManeuverTime: 2" << std::endl;
lineTwo.concat(this->testMode->getRemainingManeuverTime());
std::cout << "MenuTestMode::printManeuverTime: 3" << std::endl;
lineTwo.concat("secs");
std::cout << "MenuTestMode::printManeuverTime: 4" << std::endl;
this->print("Maneuver time", lineTwo);
std::cout << "MenuTestMode::printManeuverTime: 5" << std::endl;
}
MenuTestModeWrapper::MenuTestModeWrapper(MenuTestMode* menu, TestModeFunctionSingle testModeFunction) {
this->menu = menu;
this->testMode = this->menu->getTestMode();
this->testModeFunctionSingle = testModeFunction;
}
MenuTestModeWrapper::MenuTestModeWrapper(TestMode* testMode, TestModeFunctionDouble testModeFunction) {
MenuTestModeWrapper::MenuTestModeWrapper(MenuTestMode* menu, TestModeFunctionDouble testModeFunction) {
this->testMode = testMode;
this->testModeFunctionDouble = testModeFunction;
}
@@ -162,8 +209,13 @@ void MenuTestModeWrapper::action(int16_t* values, uint8_t length) {
// This function calls a member function with a pointer
// Very helpful site:
// https://isocpp.org/wiki/faq/pointers-to-members#fnptr-vs-memfnptr-types
std::cout << "MenuTestModeWrapper::action: 0" << std::endl;
if (length == 2 && this->testModeFunctionDouble)
(this->testMode->*this->testModeFunctionDouble)(values[0], values[1]);
else if (length == 1 && this->testModeFunctionSingle)
(this->testMode->*this->testModeFunctionSingle)(values[0]);
std::cout << "MenuTestModeWrapper::action: 1" << std::endl;
this->menu->printManeuverTime();
std::cout << "MenuTestModeWrapper::action: 2" << std::endl;
}
src/SpecialMenus/driveModi/TestMode/menuTestMode.h
+13 -2
View File
@@ -22,6 +22,7 @@ class MenuTestMode : public MenuDriveMode {
MenuTestMode(DriveManager *driveManager);
~MenuTestMode();
void printMenu();
void printManeuverTime();
void down() override;
void up() override;
@@ -30,25 +31,35 @@ class MenuTestMode : public MenuDriveMode {
void yes() override;
void no() override;
void update() override;
TestMode* getTestMode() const { return this->testMode; }
private:
void init();
bool checkInput();
TestMode* testMode;
Menu* mainMenu;
bool isInit = false;
bool maneuverInAction = false;
uint32_t lastUpdateTime = 0;
uint16_t updateDelay = 1000;
};
typedef bool (TestMode::*TestModeFunctionSingle)(int16_t);
typedef bool (TestMode::*TestModeFunctionDouble)(int16_t, int16_t);
class MenuTestModeWrapper : public MenuIntInputWrapper {
public:
MenuTestModeWrapper(TestMode* testMode, TestModeFunctionSingle testModeFunction);
MenuTestModeWrapper(TestMode* testMode, TestModeFunctionDouble testModeFunction);
MenuTestModeWrapper(MenuTestMode* menu, TestModeFunctionSingle testModeFunction);
MenuTestModeWrapper(MenuTestMode* menu, TestModeFunctionDouble testModeFunction);
void action(int16_t* values, uint8_t length) override;
private:
MenuTestMode* menu;
TestMode* testMode;
TestModeFunctionSingle testModeFunctionSingle = nullptr;
TestModeFunctionDouble testModeFunctionDouble = nullptr;
src/driveModi/Modi/TestMode/testMode.cpp
+34 -34
View File
@@ -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;
}
this->actionStart = millis();
this->moveControl->setDrivingStatus(DrivingStatus::raw);
std::cout << "TestMode::leftEngine: 1" << std::endl;
if (this->engineInit(powerPercentage, seconds)) {
this->moveControl->setRawPowerLeft(powerPercentage);
this->maneuverTime = seconds * 1000;
this->busy = true;
return 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;
}
this->actionStart = millis();
this->moveControl->setDrivingStatus(DrivingStatus::raw);
if (this->engineInit(powerPercentage, seconds)) {
this->moveControl->setRawPowerRight(powerPercentage);
this->maneuverTime = seconds * 1000;
this->busy = true;
return 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;
}
src/driveModi/Modi/TestMode/testMode.h
+8
View File
@@ -30,13 +30,21 @@ class TestMode : public DriveModi {
bool rightEngine(int16_t powerPercentage, int16_t seconds);
bool bothEngine(int16_t powerPercentage, int16_t seconds);
void abortManeuver();
uint8_t getRemainingManeuverTime();
bool getBusy() const { return this->busy; }
private:
bool engineInit(int16_t powerPercentage, int16_t seconds);
MoveControl *moveControl;
double speed = 0;
double rotationSpeed = 0;
bool busy = false;
bool abort = false;
uint8_t delay = 10;