kleiax/Bachelorarbeit-Rover
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Added debug prints to some classes

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kleiax
2021-05-09 16:13:07 +02:00
parent b5f2288db2
commit 5a772449c6
9 changed files with 40 additions and 10 deletions
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src/moveControl.cpp
+5 -1
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@@ -3,15 +3,17 @@
#include <Arduino.h>
MoveControl::MoveControl() {
this->debug = new DebugMqtt("MoveControl");
}
void MoveControl::init(MotorControl *left_motor, MotorControl *right_motor,
Speedometer *left_speedometer, Speedometer *right_speedometer) {
debug->sendMsg(Loglevel::info, "Init...");
this->left_motor = left_motor;
this->right_motor = right_motor;
this->left_speedometer = left_speedometer;
this->right_speedometer = right_speedometer;
debug->sendMsg(Loglevel::info, "Init finished!");
}
void MoveControl::runMoveControl() {
@@ -50,6 +52,8 @@ void MoveControl::calcWheelSpeed() {
this->wheelspeed_right_target = (A * this->x_speed + B * this->rotation_speed) * (WHEEL_DIAMETER / 2);
this->wheelspeed_left_target = (A * this->x_speed + (-B) * this->rotation_speed) * (WHEEL_DIAMETER / 2);
debug->writeToInflux("moveControl", "wheelspeed_right_target", this->wheelspeed_right_target);
debug->writeToInflux("moveControl", "wheelspeed_left_target", this->wheelspeed_left_target);
}
void MoveControl::regulateMotors() {