restructerd projekt

2021-12-12 16:53:19 +01:00
parent 54e84e4b5d
commit a1d59c18ad
26 changed files with 492 additions and 487 deletions
@@ -1,39 +0,0 @@
-
-This directory is intended for project header files.
-
-A header file is a file containing C declarations and macro definitions
-to be shared between several project source files. You request the use of a
-header file in your project source file (C, C++, etc) located in `src` folder
-by including it, with the C preprocessing directive `#include'.
-
-```src/main.c
-
-#include "header.h"
-
-int main (void)
-{
- ...
-}
-```
-
-Including a header file produces the same results as copying the header file
-into each source file that needs it. Such copying would be time-consuming
-and error-prone. With a header file, the related declarations appear
-in only one place. If they need to be changed, they can be changed in one
-place, and programs that include the header file will automatically use the
-new version when next recompiled. The header file eliminates the labor of
-finding and changing all the copies as well as the risk that a failure to
-find one copy will result in inconsistencies within a program.
-
-In C, the usual convention is to give header files names that end with `.h'.
-It is most portable to use only letters, digits, dashes, and underscores in
-header file names, and at most one dot.
-
-Read more about using header files in official GCC documentation:
-
-* Include Syntax
-* Include Operation
-* Once-Only Headers
-* Computed Includes
-
-https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html
@@ -0,0 +1,136 @@
+// Global config file
+// The front is where the boards are
+
+
+//Pin config
+    //Left
+    #define M_DIR_11 27
+    #define M_DIR_12 12
+    #define M_PWM_1 13
+    #define M_ENCODE_1A 33
+    #define M_ENCODE_1B 32
+    //Right
+    #define M_DIR_21 23
+    #define M_DIR_22 14
+    #define M_PWM_2 22
+    #define M_ENCODE_2A 26
+    #define M_ENCODE_2B 25
+    //GPS
+    #define GPS_RX 16
+    #define GPS_TX 17
+
+//Motors
+#define LEFT_MOTOR 1
+#define RIGHT_MOTOR 2
+#define BOTH_MOTOR 3
+
+//Directions
+#define STOP 0
+#define FORWARD 1
+#define BACKWARD 2
+
+//MotorControl config
+#define RUN_MOTOR_CONTROL_DELAY 10 // Normal 10
+#define PWM_FREQ 16000
+#define PWM_RES 8
+#define PWM_CHANNEL_M1 0
+#define PWM_CHANNEL_M2 1
+#define POWER_STEPS 2       //  A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
+#define PWM_MIN 120
+#define PWM_MAX 245         // Max 98% of 2^PWM_RES
+
+//Speedometer config
+#define RUN_SPEEDOMETER_DELAY 30 // Normal 30 untested
+#define ENC_FILTER 1023 // 1023 is max
+#define ENC_STEPS 1024
+#define WHEEL_DIAMETER 0.1263 //meter
+#define BUF_SIZE 10
+
+//MoveControl config
+#define RUN_MOVE_CONTROL_DELAY 10
+#define ACCELERATE_STEPS 1
+#define PID_LEFT_P 85
+#define PID_LEFT_I 0
+#define PID_LEFT_D 0
+#define PID_RIGHT_P 75
+#define PID_RIGHT_I 0
+#define PID_RIGHT_D 0
+#define PID_OUT_MIN -100
+#define PID_OUT_MAX 100
+#define PID_SAMPLETIME 30
+
+//ManualControl config
+#define RUN_MANUALCONTROL_DELAY 10 // normaly 10
+#define MANUALCONTROL_MAX_SPEED 1.0 // m/s
+#define MANUALCONTROL_MAX_ROTATION 7.0 // rad/s
+
+//MQTT global config
+#define MQTT_BUFFER_SITE 128
+#define MQTT_TIME_RECONNECT 2500
+
+// PS3 Controller
+// ESP32 MAC BL 24:62:AB:F2:4B:3A
+
+#define RHEDE
+
+//Network config RHEDE
+#ifdef RHEDE
+#define WLAN_SSID "LebennigHuus"
+#define WLAN_PASSWORD "Punica-699"
+#define WLAN_IP 0x040BA8C0          //192.168.11.4
+#define WLAN_SUBNETMASK 0x0080FFFF  //255.255.128.0
+#define WLAN_GATEWAY 0x0100a8c0     //192.168.0.1
+#define MQTT_SERVER 0x0701A8C0      //192.168.1.7
+#define MQTT_PORT 1883
+#define MQTT_AUTH
+#define MQTT_USER "kleiax"
+#define MQTT_PASSWORD "p?{$_~5%hBM7wrcFkr55KWr#"
+#define NTP_SERVER 0x0100a8c0       //192.168.0.1
+#endif //RHEDE
+
+
+//Network config HW1
+#ifdef HW1
+#define WLAN_SSID "hw1_gast"
+#define WLAN_PASSWORD "KeineAhnung"
+#define WLAN_IP 0x3400a8c0          //192.168.0.67
+#define WLAN_SUBNETMASK 0x00FFFFFF  //255.255.255.0
+#define WLAN_GATEWAY 0x0100a8c0     //192.168.0.1
+#define MQTT_SERVER 0xD84016AC      // 172.22.64.216
+#define MQTT_PORT 1883
+#define NTP_SERVER "2.de.pool.ntp.org"
+#endif //HW1 
+
+//Network config FRENZY
+#ifdef FRENZY
+#define WLAN_SSID "GNX7EDD84-2"
+#define WLAN_PASSWORD "2W2ZLPJ9NVQ3"
+#define WLAN_IP 0x0F01a8c0          //192.168.1.15
+#define WLAN_SUBNETMASK 0x00FFFFFF  //255.255.255.0
+#define WLAN_GATEWAY 0xfe01a8c0     //192.168.1.254
+#define MQTT_SERVER 0x0201a8c0      //192.168.1.2
+#define MQTT_PORT 1883
+#define NTP_SERVER 0x0201a8c0       //192.168.1.2
+#endif //FRENZY 
+
+//Network config TPMOBIL
+#ifdef TPMOBIL
+#define WLAN_SSID "TP-Mobil"
+#define WLAN_PASSWORD "Punica-699"
+#define WLAN_IP 0x0F01a8c0          //192.168.1.15
+#define WLAN_SUBNETMASK 0x00FFFFFF  //255.255.255.0
+#define WLAN_GATEWAY 0x0101a8c0     //192.168.1.1
+#define MQTT_SERVER 0x0201a8c0      //192.168.1.2
+#define MQTT_PORT 1883
+#define NTP_SERVER 0x0201a8c0       //192.168.1.2
+#endif //TPMOBIL 
+
+// GPS config
+#define GPS_BAUD 9600
+#define RUN_ROUTE_DELAY  330
+
+// CaptureRoute config
+#define RUN_CAPTuRE_ROUTE_DELAY 300
+
+// Route config
+#define DISTANCE_BETWEEN_POINTS 0.75 // Meter
@@ -0,0 +1,57 @@
+#ifndef MOVE_CONTROL_H
+#define MOVE_CONTROL_H
+
+#include <cstdint>
+#include <PID_v1.h>
+
+#include "motorControl.h"
+#include "speedometer"
+#include "config.h"
+#include "debugMqtt.h"
+#include "debugTimes.h"
+
+enum DrivingStatus {stop,
+                    drive};
+
+
+class MoveControl {
+    public:
+        MoveControl();
+        void init(MotorControl *left_motor, MotorControl *right_motor,
+                    Speedometer *left_encoder, Speedometer *right_encoder);
+        void runMoveControl();
+        void setDrivingStatus(DrivingStatus status);
+        void setSpeed(double speed);
+        void setRotationspeed(double speed);
+        void setPidTunings(uint8_t side, double p, double i, double d);
+
+    private:
+        void calcWheelSpeed();
+        void regulateMotors();
+        void updateWheelSpeed();
+
+        DebugMqtt *debug;
+
+        MotorControl *left_motor;
+        MotorControl *right_motor;
+        Speedometer *left_speedometer;
+        Speedometer *right_speedometer;
+
+        DrivingStatus driving_status = DrivingStatus::stop;
+
+        PID *left_pid;
+        PID *right_pid;
+
+        double x_speed = 0;
+        double rotation_speed = 0;
+
+        double wheelspeed_left_target = 0;
+        double wheelspeed_right_target = 0;
+        double wheelspeed_left = 0;
+        double wheelspeed_right = 0;
+        double left_pid_out;
+        double right_pid_out;
+
+};
+
+#endif // MOVE_CONTROL_H
@@ -0,0 +1,58 @@
+#ifndef ROUTE_H
+#define ROUTE_H
+
+#include <cstdint>
+#include <list>
+#include <TinyGPS++.h>
+#include <Arduino.h>
+
+#include "hardware/motorControl.h"
+#include "hardware/speedometer.h"
+#include "debugMqtt.h"
+#include "config.h"
+
+struct Point{
+    double lat = 0;
+    double lon = 0;
+    bool operator==(const Point& rhs) const {
+        return this->lat == rhs.lat && this->lon == rhs.lon;
+    }
+};
+
+class Route {
+    public:
+        Route();
+
+        void runRoute();
+
+        void addPointToRoute(Point point);
+        void addCurrentLocationToRoute();
+        void delRoute();
+        void resetRoute();
+
+        Point startRoute();
+        Point getNextPoint();
+        uint16_t getNumberOfPoints();
+
+        static double getDis(Point point_1, Point point_2);
+
+
+    private:
+        bool nearlySameLocation(Point p1, Point p2);
+
+        std::list<Point> points;
+        std::list<Point>::iterator it;
+        Point currentLocation;
+
+        uint16_t count_points = 0;
+
+        bool route_started = false;
+        bool route_finished = false;
+
+        TinyGPSPlus gps;
+
+        DebugMqtt *debug;
+
+};
+
+#endif // ROUTE_H