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improved moveControl

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kleiax
2021-04-01 20:59:51 +02:00
parent d9e64fbc4a
commit a33b4a2e4c
7 changed files with 136 additions and 69 deletions
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src/moveControl.h
+9 -2
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@@ -5,6 +5,7 @@
#include "motorControl.h"
#include "speedometer.h"
#include "config.h"
class MoveControl {
public:
@@ -12,17 +13,23 @@ class MoveControl {
void init(MotorControl *left_motor, MotorControl *right_motor,
Speedometer *left_encoder, Speedometer *right_encoder);
void runMoveControl();
void setSpeed(int8_t speed);
void setSpeed(double speed);
void setRotationspeed(double speed);
private:
void calcWheelSpeed();
static void regulateMotorPower(MotorControl *motor, Speedometer *cur_speed, double tar_speed);
MotorControl *left_motor;
MotorControl *right_motor;
Speedometer *left_speedometer;
Speedometer *right_speedometer;
int8_t speed = 0;
double x_speed = 0;
double rotation_speed = 0;
double wheelspeed_left_target = 0;
double wheelspeed_right_target = 0;
};
#endif // MOVE_CONTROL_H