kleiax/Bachelorarbeit-Rover
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fix pwm channel

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kleiax
2023-10-11 11:38:17 +02:00
parent f41cf5c6eb
commit a00e8d6d03
6 changed files with 27 additions and 25 deletions
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src/driveModi/Modi/TestMode/testMode.cpp
+2 -1
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;
src/moveControl.cpp
+7 -3
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: