restructerd projekt

2021-12-12 16:53:19 +01:00
parent 54e84e4b5d
commit a1d59c18ad
26 changed files with 492 additions and 487 deletions
@@ -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