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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/moveControl.cpp
+13 -9
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@@ -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();
}