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small fixes

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kleiax
2023-01-09 15:36:03 +01:00
parent 534b1f93d0
commit 75a1eb749c
2 changed files with 5 additions and 16 deletions
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lib/MotorControl/motorControl.cpp
+3 -5
View File
@@ -112,12 +112,10 @@ uint16_t MotorControl::setPowerSteps(uint8_t increment) {
} }
void MotorControl::setTargetPower(int8_t power) { void MotorControl::setTargetPower(int8_t power) {
if (power <= 100 && power >= -100) { if (power <= 100 && power >= -100)
this->target_power = power; this->target_power = power;
} else { else
char str[64]; std::cout << " MotorControl::setTargetPower: Invalid Argument - Power: " << power << std::endl;
sprintf(str, "Invalid Argument (power: %d) in setTargetPower!", power);
}
} }
uint16_t MotorControl::setDelay(uint8_t delay) { uint16_t MotorControl::setDelay(uint8_t delay) {
src/moveControl.cpp
+2 -11
View File
@@ -121,12 +121,12 @@ void MoveControl::setRotationSpeed(double speed) {
} }
void MoveControl::setRawPowerLeft(int16_t power) { void MoveControl::setRawPowerLeft(int16_t power) {
if (power <= 100 && power >= 100) if (power <= 100 && power >= -100)
this->rawPowerLeft = power; this->rawPowerLeft = power;
} }
void MoveControl::setRawPowerRight(int16_t power) { void MoveControl::setRawPowerRight(int16_t power) {
if (power <= 100 && power >= 100) if (power <= 100 && power >= -100)
this->rawPowerRight = power; this->rawPowerRight = power;
} }
@@ -168,15 +168,6 @@ void MoveControl::regulateMotors() {
case DrivingStatus::stop : case DrivingStatus::stop :
this->left_motor->setTargetPower(0); this->left_motor->setTargetPower(0);
this->right_motor->setTargetPower(0); this->right_motor->setTargetPower(0);
// Serial.println("in stop MoveControl::regulateMotors");
// if (abs(left_speedometer->getSpeed()) > 0.2) {
// Serial.printf("Left Motor Target: %d, Ist: %d\n", this->left_motor->getTargetPower(), this->left_motor->getPower());
// Serial.printf("Left Speedometer speed: %f\n", this->left_speedometer->getSpeed());
// }
// if (abs(right_speedometer->getSpeed()) > 0.2) {
// Serial.printf("Right Motor Target: %d, Ist: %d\n", this->right_motor->getTargetPower(), this->right_motor->getPower());
// Serial.printf("Right Speedometer speed: %f\n", this->right_speedometer->getSpeed());
// }
break; break;
case DrivingStatus::drive : case DrivingStatus::drive :