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kleiax
2023-10-12 19:50:10 +02:00
parent db74898b72
commit 5eaeb2749b
39 changed files with 1283 additions and 1019 deletions
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src/driveModi/Modi/TestMode/testMode.cpp
+24 -12
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@@ -15,7 +15,8 @@ void TestMode::run()
if (this->maneuver == Maneuver::Turn)
{
uint16_t delta = abs(this->azimuth - this->getSensorData()->getRealAzimuth());
if (delta > this->degree) {
if (delta > this->degree)
{
this->abort = true;
}
}
@@ -31,7 +32,8 @@ void TestMode::run()
bool TestMode::drive(int16_t cmDistance, int16_t degree)
{
if (this->busy){
if (this->busy)
{
return false;
}
@@ -43,10 +45,12 @@ bool TestMode::drive(int16_t cmDistance, int16_t degree)
// Only left or right
this->moveControl->setSpeed(0);
if (degree < 0){
if (degree < 0)
{
this->moveControl->setRotationSpeed(-this->maxSpeeds.rot);
}
else if (degree > 0){
else if (degree > 0)
{
this->moveControl->setRotationSpeed(this->maxSpeeds.rot);
}
@@ -62,10 +66,12 @@ bool TestMode::drive(int16_t cmDistance, int16_t degree)
// Only forward or backward
this->moveControl->setRotationSpeed(0);
if (cmDistance < 0){
if (cmDistance < 0)
{
this->moveControl->setSpeed(-this->maxSpeeds.x);
}
else if (cmDistance > 0){
else if (cmDistance > 0)
{
this->moveControl->setSpeed(this->maxSpeeds.x);
}
@@ -78,10 +84,12 @@ bool TestMode::drive(int16_t cmDistance, int16_t degree)
{
// forward or backward and left or right
// TODO: Calculate roationspeed
if (cmDistance < 0){
if (cmDistance < 0)
{
this->moveControl->setSpeed(-this->maxSpeeds.x);
}
else if (cmDistance > 0){
else if (cmDistance > 0)
{
this->moveControl->setSpeed(this->maxSpeeds.x);
}
@@ -137,7 +145,8 @@ void TestMode::abortManeuver()
uint8_t TestMode::getRemainingManeuverTime() const
{
if (this->busy){
if (this->busy)
{
return static_cast<uint8_t>((this->maneuverTime - (millis() - this->actionStart)) / 1000);
}
return 0;
@@ -145,13 +154,16 @@ uint8_t TestMode::getRemainingManeuverTime() const
bool TestMode::engineInit(int16_t powerPercentage, int16_t seconds)
{
if (this->busy){
if (this->busy)
{
return false;
}
if (powerPercentage > TestMode::maxPercentage || powerPercentage < -TestMode::maxPercentage){
if (powerPercentage > TestMode::maxPercentage || powerPercentage < -TestMode::maxPercentage)
{
return false;
}
if (seconds < 0){
if (seconds < 0)
{
return false;
}