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

.gitignore

@@ -3,11 +3,10 @@
 .vscode/c_cpp_properties.json
 .vscode/launch.json
 .vscode/ipch
+rover-cppcheck-build-dir
 
 doc/Doxygen/html*
 doc/Doxygen/generated*
 
-
-
 workspace.code-workspace
 projektarbeit.code-workspace

doc/TODO allgemein.txt

@@ -6,7 +6,6 @@ Do later:
     -> Program underfloorLighting
     -> Add an beeper
     -> Program the beeper
-    -> Update GNSS Lib to v3
     -> Engine slow down without curve in motorControl
     -> Network clean up (Mqtt remove?)
     -> Extra class for maneuver, autopilot should inherit from int16_t
@@ -19,16 +18,7 @@ Do later:
     -> Menu Display from parent as run() to make Menu as Component
     -> Racing Mode
     -> ConsolControl
-    -> Menü für Sensordaten (kann in jedem Betriebsmodus aufgerufen werden)
-        - GNSS
-        - Ntrip
-        - CalcCompass
-        - RealCompass
-        - Gyroskop
-        - Geschwindigkeiten (vielleicht)
     -> Menü für Einstellungen
-        - PID
-        - Geschwindigkeiten
         - WiFi (save in Flash)
     -> Battery
         - tabelle mit eigenen Werten übergeben und nicht in header (wiederverwendbarkeit)
@@ -37,21 +27,20 @@ Do later:
     -> Check speration between Ui and Route (RouteMenu)
     -> update sparkfun gnss auf v3 für SPI korrekturdatenüvbetragung
     -> Rover Objekt mit Error zustand freeze, damit das wenn möglich auch auf dem Display angezeigt wird.
+    -> ESP und Sensoren in den DeepSleep für Auschalten oder Akkuschutz
 
 
 Do now:
 Code:
     Doxygen Kommentare aktualisieren
-    esp und sensoren in den deepsleep
     magic numbers etc
+    Fernbedienung!
 
 Latex:
     Anhang: Liste mit allen Komponenten und Kurzbeschreibung
     Unterschied funktionale und nicht funktionale Anforderungen
-    Strom nicht über Zeit sondern Rampe
+    Overfull H-Boxen
-    Formel für Zeit anfahrrampe Einheiten
+    Test Motor, Zeiten kontrolieren. Wenn einfach so dann bezug auf fehler bei Timing und freeRtos
-    Überall den Durchmesser der Räder auf 12cm und Pulse auf 384 / 3 = 128
+    Was mit den nicht erfüllten Anforderungen machen?
+    Hardware doppelt erklärt
 
-3D:
-    
-Rover:

include/config.h

@@ -30,23 +30,24 @@ namespace PinNumbers {
         constexpr uint8_t dir2 = 23;
         constexpr uint8_t pwm  = 22;
         constexpr uint8_t encoder = 33;
-        constexpr uint8_t pmwChannel = 0;
+        constexpr uint8_t pmwChannel = 1;
     }
 }
 
 namespace Settings {
-    constexpr float wheelDiameter = 0.1263;
+    constexpr float wheelDiameter = 0.105;
-    constexpr uint16_t encoderSteps = 360;
+    constexpr float wheelDistance = 0.255;
+    constexpr uint16_t encoderSteps = 384;
 
     namespace Pid {
         namespace Left {
-            constexpr uint8_t P = 75;
+            constexpr uint8_t P = 5;
             constexpr uint8_t I = 0;
             constexpr uint8_t D = 0;
         }
 
         namespace Right {
-            constexpr uint8_t P = 75;
+            constexpr uint8_t P = 5;
             constexpr uint8_t I = 0;
             constexpr uint8_t D = 0;
         }

include/networkConfig.h

@@ -14,7 +14,7 @@
 
 #include <stdint.h>
 
-#define HOTSPOT
+#define HW1
 
 #ifdef HOTSPOT
 namespace NetworkConfig {
@@ -28,6 +28,18 @@ namespace NetworkConfig {
 }
 #endif //HOTSPOT
 
+#ifdef HW1
+namespace NetworkConfig {
+    const char ssid[] = "hw1_gast";
+    const char password[] = "KeineAhnung";
+    const char ip[] = "192.168.0.4";
+    const char subnet[] = "255.255.255.0";
+    const char gateway[] = "192.168.0.1";
+    const char dns[] = "8.8.8.8";
+    const bool mqtt = false;
+}
+#endif //HW1
+
 //Network config Rhede
 #ifdef RHEDE
 namespace NetworkConfig {

lib/Speedometer/speedometer.cpp

@@ -16,14 +16,14 @@ Speedometer::Speedometer(uint8_t pin, double diameter, uint16_t steps) {
     this->steps = steps;
 
     this->pulseCounter = new Counter(pin);
-    this->pulseCounter->setFilterValue(1000); // ignore pulses less than 1000 x 2.5ns
+    this->pulseCounter->setFilterValue(1023); // ignore pulses less than 1000 x 2.5ns
 
     this->pulseCounter->clear();
     this->pulseCounter->resume();
 
     Component::loopDelay = Speedometer::loopDelay;
 
-    clearAvgBuf();
+    this->clearAvgBuf();
 }
 
 Speedometer::~Speedometer() {
@@ -47,18 +47,27 @@ void Speedometer::run() {
     double n = (double)pulse / this->steps;   // Wheel revolutions in absolute time
     double u = n / ((double)elapsedTime / 1000);           // Wheel revolutions per second
     double ms = u * (diameter * PI);                      // Speed in m/s
+    double rad = u * 2 * PI;
+
+    if (speed < 0.1) {
+        speed = 0;
+        rad = 0;
+    }
 
     switch (this->currentDirection) {
         case Direction::Forward :
             this->speed = ms;
+            this->rad = rad;
             break;
         
         case Direction::Backward :
             this->speed = -ms;
+            this->rad = -rad;
             break;
 
         case Direction::None :
             this->speed = 0;
+            this->rad = 0;
             break;
     }
 

lib/Speedometer/speedometer.h

@@ -59,13 +59,6 @@ class Speedometer : public Component {
          */
         void setDirection(Direction dir);
 
-        /**
-         * @brief Set the number of last values ​​to be taken into account for the average.
-         * 
-         * @param val length of the array
-         */
-        void setNumOfValForAvg(uint8_t val);
-
         /**
          * @brief Set the Enc Filter to prevent bouncing
          * 
@@ -88,6 +81,7 @@ class Speedometer : public Component {
          * @return double speed in m/s
          */
         double getSpeed() const { return this->speed; }
+        double getSpeedRad() const { return this->rad; };
         double getAvgSpeed() const;
 
         /**
@@ -111,7 +105,6 @@ class Speedometer : public Component {
 
     private:
         void run() override;
-        void init(uint8_t pin, double diameter, uint16_t steps);
         void clearAvgBuf();
         void addValToBuf(int16_t val);
         int16_t calcAverage() const;
@@ -126,6 +119,7 @@ class Speedometer : public Component {
         bool calibrationRunning = false;
 
         double speed = 0;
+        double rad = 0;
         double diameter;
 
         uint8_t printCounter = 0;

platformio.ini

@@ -23,8 +23,6 @@ lib_deps =
 	marcoschwartz/LiquidCrystal_I2C@^1.1.4
 	bblanchon/ArduinoJson@^6.20.0
 	mprograms/QMC5883LCompass@^1.2.0
-	https://git.kleiax.de/PlatformIO-Libs/Menu.git
-	nrf24/RF24@^1.4.5
 	jrowberg/I2Cdevlib-MPU6050@^1.0.0
 ; upload_port = COM6
 test_ignore = test_desktop

rover.cppcheck

@@ -0,0 +1,16 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="1">
+    <builddir>rover-cppcheck-build-dir</builddir>
+    <analyze-all-vs-configs>false</analyze-all-vs-configs>
+    <check-headers>true</check-headers>
+    <check-unused-templates>true</check-unused-templates>
+    <max-ctu-depth>2</max-ctu-depth>
+    <max-template-recursion>100</max-template-recursion>
+    <paths>
+        <dir name="src"/>
+        <dir name="lib"/>
+        <dir name="include"/>
+        <dir name=".pio/libdeps/embedded/Menu"/>
+    </paths>
+    <project-name>rover</project-name>
+</project>

src/driveModi/Modi/TestMode/testMode.cpp

@@ -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

@@ -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

@@ -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_right_target = (A * this->drivingSpeeds.x + B * this->drivingSpeeds.rot);
-    this->wheelspeed_left_target  = (A * this->drivingSpeeds.x + (-B) * this->drivingSpeeds.rot) * (Settings::wheelDiameter / 2);
+    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_left = this->left_speedometer->getSpeedRad();
-    this->wheelspeed_right = this->right_speedometer->getSpeed();
+    this->wheelspeed_right = this->right_speedometer->getSpeedRad();
 }