kleiax/Bachelorarbeit-Rover
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases 1 Wiki Activity

restructerd projekt

Browse Source
This commit is contained in:
kleiax
2021-12-12 16:53:19 +01:00
parent 54e84e4b5d
commit a1d59c18ad
26 changed files with 492 additions and 487 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/Diagrams/classdiagramm.uxf
+95
View File
@@ -0,0 +1,95 @@
<diagram program="umletino" version="14.4.0-SNAPSHOT"><zoom_level>10</zoom_level><element><id>UMLClass</id><coordinates><x>350</x><y>0</y><w>220</w><h>510</h></coordinates><panel_attributes>&lt;&lt;hardware&gt;&gt;
MotorControl
--
- name: String
- debug: DebugMqtt*
- target_power: int8_t = 0
- power: int8_t = 0
- direction: uint8_t = 0
- last_millis: uint64_t = 0;
- pwm_pin: uint8_t
- pwm_channel: uint8_t
- direction_pin_1: uint8_t
- direction_pin_2: uint8_t
--
+ MotorControl()
+ init(pwm_pin: uint8_t,
   pwm_channel: uint8_t,
   direction_1: uint8_t,
   direction_2: uint8_t,
   name: String)
+ runMotorControl()
+ setTargetPower(power: int8_t)
+ stop()
+ emergencyStop()
+ toString()
+ getPower(): int8_t
+ getTargetPower(): int8_t
+ isTargetPowerReached(): bool
+ isAccelerationPositive(): bool
+ isAccelerationNegative(): bool
- setRealPower(power: int8_t)
- increasePower(power: int8_t)</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>80</x><y>380</y><w>220</w><h>330</h></coordinates><panel_attributes>&lt;&lt;hardware&gt;&gt;
Speedometer
--
- encoder: ESP32Encoder
- debug: DebugMqtt*
- name: String
- speed: double = 0
- last_millis: uint64_t = 0;
- bufPos: uint8_t
- buf: int16_t[BUF_SIZE]
--
+ Speedometer()
+ init(pinA: uint8_t,
   pinB: uint8_t,
   name: String)
+ runSpeedometer()
+ setTargetPower(power: int8_t)
+ getSpeed(): double
+ getDirection(): uint8_t
- addValToBuf(val: int16_t)
- getAverage(): int16_t</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>70</x><y>0</y><w>270</w><h>370</h></coordinates><panel_attributes>MoveControl
--
- debug: DebugMqtt*
- left_motor: MotorControl*
- right_motor: MotorControl*
- left_speedometer: Speedometer*
- right_speedometer: Speedometer*
- driving_status: DrivingStatus = stop
- x_speed: double = 0
- rotation_speed: double = 0
- wheelspeed_left_target: double = 0
- wheelspeed_right_target: double = 0
--
+ MoveControl()
+ init(left_motor: MotorControl*,
   right_motor: MotorControl*,
   left_speedometer: Speedometer*,
   right_speedometer: Speedometer*)
+ runMoveControl()
+ setDrivingStatus(status: DrivingStatus)
+ setSpeed(speed: double)
+ setRotationspeed(speed: double)
- calcWheelSpeed()
- regulateMotors()</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>580</x><y>0</y><w>220</w><h>330</h></coordinates><panel_attributes>&lt;&lt;driveModi&gt;&gt;
ManualControl
--
- encoder: ESP32Encoder
- debug: DebugMqtt*
- name: String
- speed: double = 0
- last_millis: uint64_t = 0;
- bufPos: uint8_t
- buf: int16_t[BUF_SIZE]
--
+ Speedometer()
+ init(pinA: uint8_t,
   pinB: uint8_t,
   name: String)
+ runSpeedometer()
+ setTargetPower(power: int8_t)
+ getSpeed(): double
+ getDirection(): uint8_t
- addValToBuf(val: int16_t)
- getAverage(): int16_t</panel_attributes><additional_attributes></additional_attributes></element></diagram>