improved moveControl

src/main.cpp

@@ -10,7 +10,6 @@
 #include <DabbleESP32.h>
 
 void gamepadInput();
-int8_t modSpeed(int8_t dir, int8_t speed);
 
 MotorControl left_motor;
 MotorControl right_motor;
@@ -34,88 +33,43 @@ void setup() {
 }
 
 void loop() {
-  if (millis() - last_millis > 700) {
+  if (millis() - last_millis > 400) {
     gamepadInput();
     // left_motor.toString();
+    // Serial.printf("speed: %f, ", speedometer_right.getSpeed());
     // right_motor.toString();
     // Serial.printf("Speed L: %f, Speed R: %f \n", speedometer_left.getSpeed(), speedometer_right.getSpeed());
 
     last_millis = millis();
   }
 
-  left_motor.runMotorControl();
+  // left_motor.runMotorControl();
   right_motor.runMotorControl();
-  speedometer_left.runSpeedometer();
+  // speedometer_left.runSpeedometer();
   speedometer_right.runSpeedometer();
-  moveController.runMoveControl();
+  // moveController.runMoveControl();
 }
 
 void gamepadInput() {
   Dabble.processInput();             //this function is used to refresh data obtained from smartphone.Hence calling this function is mandatory in order to get data properly from your mobile.
   //Serial.print("KeyPressed: ");
 
-  static int8_t speed_left = 0;
   if (GamePad.isUpPressed()) {
-    speed_left = modSpeed(1, speed_left);
+    moveController.setSpeed(1.3);
   } else if (GamePad.isDownPressed()) {
-    speed_left = modSpeed(-1, speed_left);
+    moveController.setSpeed(0);
   } else {
-    speed_left = modSpeed(0, speed_left);
   }
 
-  static int8_t speed_right = 0;
   if (GamePad.isTrianglePressed()) {
-    speed_right = modSpeed(1, speed_right);
+    right_motor.setTargetSpeed(20);
   } else if (GamePad.isCrossPressed()) {
-    speed_right = modSpeed(-1, speed_right);
-  } else {
-    speed_right = modSpeed(0, speed_right);
+    right_motor.setTargetSpeed(30);
+  } else if (GamePad.isCirclePressed()){
+    right_motor.setTargetSpeed(0);
   }
 
-  left_motor.setTargetSpeed(speed_left);
-  right_motor.setTargetSpeed(speed_right);
-
   // int a = GamePad.getAngle();
   // int b = GamePad.getRadius();
   // Serial.printf("Winkel: %d, Radius: %d \n", a, b);
 }
-
-int8_t modSpeed(int8_t dir, int8_t speed) {
-  int8_t new_speed = 0;
-  if (dir == 1) {
-    if (speed > 0) {
-      new_speed = speed + 5;
-    } else if (speed == 0) {
-      new_speed = 5;
-    } else {
-      new_speed = speed + 5;
-    }
-  } else if (dir == 0) {
-    if (speed > 0) {
-      new_speed = speed - 5;
-    } else if (speed == 0) {
-      new_speed = 0;
-    } else {
-      new_speed = speed + 5;
-    }
-  } else if (dir == -1) {
-    if (speed > 0) {
-      new_speed = speed - 5;
-    } else if (speed == 0) {
-      new_speed = -5;
-    } else {
-      new_speed = speed - 5;
-    }
-  }
-
-  if (new_speed < -100) {
-    new_speed = -100;
-  }
-
-  if (new_speed > 100) {
-    new_speed = 100;
-  }
-
-  return new_speed;
-}
-