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Merge branch 'main' of git.kleiax.de:kleiax/Projektarbeit-Rover

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kleiax
2023-10-11 11:46:12 +02:00
parent d9d3f63160 a00e8d6d03
commit 77a52b82c3
11 changed files with 72 additions and 51 deletions
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src/driveModi/Modi/TestMode/testMode.cpp
+4 -3
View File
@@ -17,7 +17,7 @@ void TestMode::run() {
this->abort = true;
}
if (millis() - this->actionStart > this->maneuverTime || this->abort) {
if (this->busy && millis() - this->actionStart > this->maneuverTime || this->abort) {
this->busy = false;
this->abort = false;
this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
@@ -83,6 +83,7 @@ bool TestMode::leftEngine(int16_t powerPercentage, int16_t seconds) {
if (this->engineInit(powerPercentage, seconds)) {
this->moveControl->setRawPowerLeft(powerPercentage);
this->maneuver = Maneuver::LeftEngine;
std::cout << "TestMode::leftEngine" << std::endl;
return true;
}
return false;
@@ -112,7 +113,7 @@ void TestMode::abortManeuver() {
}
uint8_t TestMode::getRemainingManeuverTime() const {
if (busy)
if (this->busy)
return (uint8_t) ((this->maneuverTime - (millis() - this->actionStart)) / 1000);
return 0;
}
@@ -120,7 +121,7 @@ uint8_t TestMode::getRemainingManeuverTime() const {
bool TestMode::engineInit(int16_t powerPercentage, int16_t seconds) {
if (this->busy)
return false;
if (powerPercentage >= 100 || powerPercentage <= -100)
if (powerPercentage > 100 || powerPercentage < -100)
return false;
if (seconds < 0)
return false;
src/driveModi/Modi/TestMode/testMode.h
-2
View File
@@ -14,7 +14,6 @@
#include <iostream>
#include "moveControl.h"
#include "navigation.h"
#include "driveModi/driveModi.h"
@@ -97,7 +96,6 @@ class TestMode : public DriveModi {
void run() override;
bool engineInit(int16_t powerPercentage, int16_t seconds);
Navigation* navigation;
Maneuver maneuver = Maneuver::None;
int16_t maneuverValueOne = 0;
int16_t maneuverValueTwo = 0;
src/moveControl.cpp
+13 -9
View File
@@ -44,7 +44,7 @@ MoveControl::MoveControl() {
this->right_motor->init(PinNumbers::RightMotor::pwm, PinNumbers::RightMotor::pmwChannel, PinNumbers::RightMotor::dir1, PinNumbers::RightMotor::dir2);
this->addChildComponent(this->left_motor);
this->addChildComponent(this->right_motor);
this->addChildComponent(this->right_motor);
this->addChildComponent(this->left_speedometer);
this->addChildComponent(this->right_speedometer);
}
@@ -80,11 +80,15 @@ void MoveControl::setDrivingStatus(Status status) {
this->driving_status = status;
// switch (this->driving_status) {
// case Status::Stop :
// Serial.println("New drivingState = Stop in MoveControl::setDrivingStatus");
// std::cout << "New drivingState = Stop in MoveControl::setDrivingStatus" << std::endl;
// break;
// case Status::Drive :
// Serial.println("New drivingState = Drive in MoveControl::setDrivingStatus");
// std::cout << "New drivingState = Drive in MoveControl::setDrivingStatus" << std::endl;
// break;
// case Status::Raw :
// std::cout << "New drivingState = Raw in MoveControl::setDrivingStatus" << std::endl;
// break;
// default:
@@ -169,12 +173,12 @@ void MoveControl::calcTargetWheelSpeed() {
\ 1 -b / \ T / \ Xr / */
// (1 / r) * 1
constexpr double A = 15.82278481;
constexpr double A = 1.0 / (Settings::wheelDiameter / 2);
// (1 / r) * b
constexpr double B = 2.096518987;
constexpr double B = (1.0 / (Settings::wheelDiameter / 2)) * (Settings::wheelDistance / 2);
this->wheelspeed_right_target = (A * this->drivingSpeeds.x + B * this->drivingSpeeds.rot) * (Settings::wheelDiameter / 2);
this->wheelspeed_left_target = (A * this->drivingSpeeds.x + (-B) * this->drivingSpeeds.rot) * (Settings::wheelDiameter / 2);
this->wheelspeed_right_target = (A * this->drivingSpeeds.x + B * this->drivingSpeeds.rot);
this->wheelspeed_left_target = (A * this->drivingSpeeds.x + (-B) * this->drivingSpeeds.rot);
}
void MoveControl::regulateMotors() {
@@ -207,6 +211,6 @@ void MoveControl::regulateMotors() {
}
void MoveControl::updateCurrentWheelSpeed() {
this->wheelspeed_left = this->left_speedometer->getSpeed();
this->wheelspeed_right = this->right_speedometer->getSpeed();
this->wheelspeed_left = this->left_speedometer->getSpeedRad();
this->wheelspeed_right = this->right_speedometer->getSpeedRad();
}