kleiax/Bachelorarbeit-Rover
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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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.gitignore
+1 -2
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@@ -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 -17
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@@ -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
Formel für Zeit anfahrrampe Einheiten
Überall den Durchmesser der Räder auf 12cm und Pulse auf 384 / 3 = 128
Overfull H-Boxen
Test Motor, Zeiten kontrolieren. Wenn einfach so dann bezug auf fehler bei Timing und freeRtos
Was mit den nicht erfüllten Anforderungen machen?
Hardware doppelt erklärt
3D:
Rover:
include/config.h
+6 -5
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@@ -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 uint16_t encoderSteps = 360;
constexpr float wheelDiameter = 0.105;
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
+13 -1
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@@ -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
+11 -2
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@@ -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
+2 -8
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@@ -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
-2
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@@ -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
+16
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@@ -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
+4 -3
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@@ -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
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@@ -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
+12 -8
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@@ -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();
}