more refactor bug fixes
This commit is contained in:
@@ -1,157 +0,0 @@
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||||
<diagram program="umletino" version="14.4.0-SNAPSHOT"><zoom_level>10</zoom_level><element><id>UMLClass</id><coordinates><x>750</x><y>10</y><w>220</w><h>650</h></coordinates><panel_attributes><<hardware>>
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MotorControl
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--
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- target_power: int8_t
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- power: int8_t
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- direction: uint8_t
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- pwm_pin: uint8_t
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- pwm_channel: uint8_t
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- pwm_res: uint8_t
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- dutycycle_min: uint8_t
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- dutycycle_max: uint8_t
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- direction_1: uint8_t
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- direction_2: uint8_t
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- delay: uint8_t
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- powersteps: uint8_t
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- last_millis: uint32_t
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--
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+ MotorControl()
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+ init(pwm_pin: uint8_t,
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pwm_channel: uint8_t,
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dir_1: uint8_t, dir_2: uint8_t)
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+ loop(): uint16_t
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+ runMotorControl()
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+ setMinPwm(uint8_t)
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+ setMaxPwm(uint8_t)
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+ setPowerSteps(uint8_t): uint16_t
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+ setTargetPower(uint8_t)
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+ setDelay(uint8_t): uint16_t
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+ stop()
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+ emergencyStop()
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+ toString()
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+ getPower(): int8_t
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+ getTargetPower(): int8_t
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+ isTargetPowerReached(): bool
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+ isAccelerationPositive(): bool
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+ isAccelerationNegative(): bool
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- setRealPower(power: int8_t)
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- increasePower(power: int8_t)
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</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><<hardware>>
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Speedometer
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--
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- encoder: ESP32Encoder
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- debug: DebugMqtt*
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- name: String
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- speed: double = 0
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- last_millis: uint64_t = 0;
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- bufPos: uint8_t
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- buf: int16_t[BUF_SIZE]
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--
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+ Speedometer()
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+ init(pinA: uint8_t,
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pinB: uint8_t,
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name: String)
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+ runSpeedometer()
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+ setTargetPower(power: int8_t)
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+ getSpeed(): double
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+ getDirection(): uint8_t
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- addValToBuf(val: int16_t)
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- 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
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--
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- debug: DebugMqtt*
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- left_motor: MotorControl*
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- right_motor: MotorControl*
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- left_speedometer: Speedometer*
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- right_speedometer: Speedometer*
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- driving_status: DrivingStatus = stop
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- x_speed: double = 0
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- rotation_speed: double = 0
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- wheelspeed_left_target: double = 0
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- wheelspeed_right_target: double = 0
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--
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+ MoveControl()
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+ init(left_motor: MotorControl*,
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right_motor: MotorControl*,
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left_speedometer: Speedometer*,
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right_speedometer: Speedometer*)
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+ runMoveControl()
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+ setDrivingStatus(status: DrivingStatus)
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+ setSpeed(speed: double)
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+ setRotationspeed(speed: double)
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- calcWheelSpeed()
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- regulateMotors()</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>370</x><y>10</y><w>220</w><h>330</h></coordinates><panel_attributes><<driveModi>>
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ManualControl
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--
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- encoder: ESP32Encoder
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- debug: DebugMqtt*
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- name: String
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- speed: double = 0
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- last_millis: uint64_t = 0;
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- bufPos: uint8_t
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- buf: int16_t[BUF_SIZE]
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--
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+ Speedometer()
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+ init(pinA: uint8_t,
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pinB: uint8_t,
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name: String)
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+ runSpeedometer()
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+ setTargetPower(power: int8_t)
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+ getSpeed(): double
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+ getDirection(): uint8_t
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- addValToBuf(val: int16_t)
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- getAverage(): int16_t</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>1270</x><y>10</y><w>210</w><h>240</h></coordinates><panel_attributes>MenuControl
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--
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# parentMenu: MenuControl*
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# lcd: LiquidCrystal_I2C*
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--
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/+down()/
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/+up()/
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/+right()/
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/+left()/
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/+yes()/
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/+no()/
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/+update()/
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/+printMenu()/
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+ setParentMenu(MenuControl*)
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+ setLcd(LiquidCrystal_I2C*)</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>980</x><y>10</y><w>280</w><h>270</h></coordinates><panel_attributes>MenuAction
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--
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- name: char*
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- *function: void
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- *callback: void
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- isMenu: bool
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- menu: MenuControl
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--
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+ MenuAction(const char*, (*function), (*callback))
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+ MenuAction(const char*, (*function))
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+ MenuAction(const char*, MenuControl* menu)
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+ runAction()
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+ getName(): const char*
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+ getIsMenu(): bool
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+ getMenu(): MenuControl*
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</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>1220</x><y>360</y><w>280</w><h>160</h></coordinates><panel_attributes>Menu
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--
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- inSubmenu: bool
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- entrys: list<MenuAction*>
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- selectedEntry: list<MenuAction*>::iterator
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- isMenu: bool
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- menu: MenuControl
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--
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+ addEntry(MenuAction* entry)
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</panel_attributes><additional_attributes></additional_attributes></element><element><id>Relation</id><coordinates><x>1350</x><y>240</y><w>30</w><h>140</h></coordinates><panel_attributes>lt=<<-</panel_attributes><additional_attributes>10;10;10;120</additional_attributes></element><element><id>Relation</id><coordinates><x>1080</x><y>270</y><w>160</w><h>190</h></coordinates><panel_attributes>lt=-
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m1=*
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m2=0..1</panel_attributes><additional_attributes>10;10;10;160;140;160</additional_attributes></element></diagram>
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@@ -1,390 +0,0 @@
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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<diagram program="umlet" version="14.3.0">
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<zoom_level>10</zoom_level>
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<element>
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<id>UMLSpecialState</id>
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||||
<coordinates>
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||||
<x>40</x>
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||||
<y>20</y>
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||||
<w>20</w>
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||||
<h>20</h>
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||||
</coordinates>
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||||
<panel_attributes>type=initial</panel_attributes>
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||||
<additional_attributes/>
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||||
</element>
|
||||
<element>
|
||||
<id>Relation</id>
|
||||
<coordinates>
|
||||
<x>40</x>
|
||||
<y>20</y>
|
||||
<w>130</w>
|
||||
<h>30</h>
|
||||
</coordinates>
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||||
<panel_attributes>lt=<-</panel_attributes>
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||||
<additional_attributes>110.0;10.0;10.0;10.0</additional_attributes>
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||||
</element>
|
||||
<element>
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||||
<id>UMLState</id>
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||||
<coordinates>
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||||
<x>150</x>
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||||
<y>10</y>
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||||
<w>100</w>
|
||||
<h>40</h>
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||||
</coordinates>
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||||
<panel_attributes>search next point
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||||
bg=green</panel_attributes>
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||||
<additional_attributes/>
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||||
</element>
|
||||
<element>
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||||
<id>UMLSpecialState</id>
|
||||
<coordinates>
|
||||
<x>180</x>
|
||||
<y>90</y>
|
||||
<w>40</w>
|
||||
<h>40</h>
|
||||
</coordinates>
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||||
<panel_attributes>bg=green
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||||
type=decision</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>Relation</id>
|
||||
<coordinates>
|
||||
<x>190</x>
|
||||
<y>40</y>
|
||||
<w>30</w>
|
||||
<h>70</h>
|
||||
</coordinates>
|
||||
<panel_attributes>lt=<-</panel_attributes>
|
||||
<additional_attributes>10.0;50.0;10.0;10.0</additional_attributes>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLState</id>
|
||||
<coordinates>
|
||||
<x>150</x>
|
||||
<y>180</y>
|
||||
<w>100</w>
|
||||
<h>40</h>
|
||||
</coordinates>
|
||||
<panel_attributes>detect alignment
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||||
bg=green</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>Relation</id>
|
||||
<coordinates>
|
||||
<x>190</x>
|
||||
<y>120</y>
|
||||
<w>130</w>
|
||||
<h>80</h>
|
||||
</coordinates>
|
||||
<panel_attributes>lt=<-
|
||||
[distance <= 5m]</panel_attributes>
|
||||
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLObject</id>
|
||||
<coordinates>
|
||||
<x>20</x>
|
||||
<y>0</y>
|
||||
<w>840</w>
|
||||
<h>590</h>
|
||||
</coordinates>
|
||||
<panel_attributes>Autopilot
|
||||
|
||||
valign=top</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>Relation</id>
|
||||
<coordinates>
|
||||
<x>210</x>
|
||||
<y>90</y>
|
||||
<w>140</w>
|
||||
<h>40</h>
|
||||
</coordinates>
|
||||
<panel_attributes>lt=<-
|
||||
[distance > 5m]</panel_attributes>
|
||||
<additional_attributes>120.0;20.0;10.0;20.0</additional_attributes>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLState</id>
|
||||
<coordinates>
|
||||
<x>330</x>
|
||||
<y>90</y>
|
||||
<w>100</w>
|
||||
<h>40</h>
|
||||
</coordinates>
|
||||
<panel_attributes>Error
|
||||
bg=red</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLState</id>
|
||||
<coordinates>
|
||||
<x>150</x>
|
||||
<y>270</y>
|
||||
<w>100</w>
|
||||
<h>40</h>
|
||||
</coordinates>
|
||||
<panel_attributes>correct alignment
|
||||
bg=green</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLState</id>
|
||||
<coordinates>
|
||||
<x>150</x>
|
||||
<y>360</y>
|
||||
<w>100</w>
|
||||
<h>40</h>
|
||||
</coordinates>
|
||||
<panel_attributes>drive to point
|
||||
bg=green</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>Relation</id>
|
||||
<coordinates>
|
||||
<x>190</x>
|
||||
<y>210</y>
|
||||
<w>30</w>
|
||||
<h>80</h>
|
||||
</coordinates>
|
||||
<panel_attributes>lt=<-</panel_attributes>
|
||||
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
|
||||
</element>
|
||||
<element>
|
||||
<id>Relation</id>
|
||||
<coordinates>
|
||||
<x>190</x>
|
||||
<y>300</y>
|
||||
<w>30</w>
|
||||
<h>80</h>
|
||||
</coordinates>
|
||||
<panel_attributes>lt=<-</panel_attributes>
|
||||
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
|
||||
</element>
|
||||
<element>
|
||||
<id>Relation</id>
|
||||
<coordinates>
|
||||
<x>90</x>
|
||||
<y>280</y>
|
||||
<w>80</w>
|
||||
<h>120</h>
|
||||
</coordinates>
|
||||
<panel_attributes>lt=<-</panel_attributes>
|
||||
<additional_attributes>60.0;10.0;10.0;10.0;10.0;100.0;60.0;100.0</additional_attributes>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLState</id>
|
||||
<coordinates>
|
||||
<x>440</x>
|
||||
<y>10</y>
|
||||
<w>410</w>
|
||||
<h>300</h>
|
||||
</coordinates>
|
||||
<panel_attributes>detect alignment
|
||||
valign=top</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLSpecialState</id>
|
||||
<coordinates>
|
||||
<x>460</x>
|
||||
<y>60</y>
|
||||
<w>20</w>
|
||||
<h>20</h>
|
||||
</coordinates>
|
||||
<panel_attributes>type=final</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>Relation</id>
|
||||
<coordinates>
|
||||
<x>470</x>
|
||||
<y>60</y>
|
||||
<w>90</w>
|
||||
<h>30</h>
|
||||
</coordinates>
|
||||
<panel_attributes>lt=-></panel_attributes>
|
||||
<additional_attributes>10.0;10.0;70.0;10.0</additional_attributes>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLState</id>
|
||||
<coordinates>
|
||||
<x>540</x>
|
||||
<y>50</y>
|
||||
<w>110</w>
|
||||
<h>40</h>
|
||||
</coordinates>
|
||||
<panel_attributes>drive 1m forward</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLState</id>
|
||||
<coordinates>
|
||||
<x>540</x>
|
||||
<y>140</y>
|
||||
<w>110</w>
|
||||
<h>40</h>
|
||||
</coordinates>
|
||||
<panel_attributes>drive 2m backward</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLState</id>
|
||||
<coordinates>
|
||||
<x>540</x>
|
||||
<y>230</y>
|
||||
<w>110</w>
|
||||
<h>40</h>
|
||||
</coordinates>
|
||||
<panel_attributes>drive 1m forward</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLState</id>
|
||||
<coordinates>
|
||||
<x>700</x>
|
||||
<y>230</y>
|
||||
<w>120</w>
|
||||
<h>40</h>
|
||||
</coordinates>
|
||||
<panel_attributes>calculate straight line</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>Relation</id>
|
||||
<coordinates>
|
||||
<x>580</x>
|
||||
<y>80</y>
|
||||
<w>30</w>
|
||||
<h>80</h>
|
||||
</coordinates>
|
||||
<panel_attributes>lt=<-</panel_attributes>
|
||||
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
|
||||
</element>
|
||||
<element>
|
||||
<id>Relation</id>
|
||||
<coordinates>
|
||||
<x>580</x>
|
||||
<y>170</y>
|
||||
<w>30</w>
|
||||
<h>80</h>
|
||||
</coordinates>
|
||||
<panel_attributes>lt=<-</panel_attributes>
|
||||
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLSpecialState</id>
|
||||
<coordinates>
|
||||
<x>750</x>
|
||||
<y>150</y>
|
||||
<w>20</w>
|
||||
<h>20</h>
|
||||
</coordinates>
|
||||
<panel_attributes>type=termination</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>Relation</id>
|
||||
<coordinates>
|
||||
<x>750</x>
|
||||
<y>160</y>
|
||||
<w>30</w>
|
||||
<h>90</h>
|
||||
</coordinates>
|
||||
<panel_attributes>lt=<-</panel_attributes>
|
||||
<additional_attributes>10.0;10.0;10.0;70.0</additional_attributes>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLState</id>
|
||||
<coordinates>
|
||||
<x>440</x>
|
||||
<y>320</y>
|
||||
<w>410</w>
|
||||
<h>260</h>
|
||||
</coordinates>
|
||||
<panel_attributes>correct alignment
|
||||
valign=top</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLState</id>
|
||||
<coordinates>
|
||||
<x>540</x>
|
||||
<y>370</y>
|
||||
<w>190</w>
|
||||
<h>40</h>
|
||||
</coordinates>
|
||||
<panel_attributes>calculate relativ target position</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>Relation</id>
|
||||
<coordinates>
|
||||
<x>470</x>
|
||||
<y>380</y>
|
||||
<w>90</w>
|
||||
<h>30</h>
|
||||
</coordinates>
|
||||
<panel_attributes>lt=-></panel_attributes>
|
||||
<additional_attributes>10.0;10.0;70.0;10.0</additional_attributes>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLSpecialState</id>
|
||||
<coordinates>
|
||||
<x>460</x>
|
||||
<y>380</y>
|
||||
<w>20</w>
|
||||
<h>20</h>
|
||||
</coordinates>
|
||||
<panel_attributes>type=final</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLState</id>
|
||||
<coordinates>
|
||||
<x>580</x>
|
||||
<y>460</y>
|
||||
<w>120</w>
|
||||
<h>40</h>
|
||||
</coordinates>
|
||||
<panel_attributes>rotate x degree</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
<element>
|
||||
<id>Relation</id>
|
||||
<coordinates>
|
||||
<x>630</x>
|
||||
<y>400</y>
|
||||
<w>30</w>
|
||||
<h>80</h>
|
||||
</coordinates>
|
||||
<panel_attributes>lt=<-</panel_attributes>
|
||||
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
|
||||
</element>
|
||||
<element>
|
||||
<id>Relation</id>
|
||||
<coordinates>
|
||||
<x>630</x>
|
||||
<y>490</y>
|
||||
<w>30</w>
|
||||
<h>80</h>
|
||||
</coordinates>
|
||||
<panel_attributes>lt=<-</panel_attributes>
|
||||
<additional_attributes>10.0;60.0;10.0;10.0</additional_attributes>
|
||||
</element>
|
||||
<element>
|
||||
<id>UMLSpecialState</id>
|
||||
<coordinates>
|
||||
<x>630</x>
|
||||
<y>550</y>
|
||||
<w>20</w>
|
||||
<h>20</h>
|
||||
</coordinates>
|
||||
<panel_attributes>type=termination</panel_attributes>
|
||||
<additional_attributes/>
|
||||
</element>
|
||||
</diagram>
|
||||
@@ -1,45 +1,6 @@
|
||||
Maybe:
|
||||
-> Time Measurement in component interface
|
||||
-> Time warnings
|
||||
|
||||
Do later:
|
||||
-> Program underfloorLighting
|
||||
-> Add an beeper
|
||||
-> Program the beeper
|
||||
-> Engine slow down without curve in motorControl
|
||||
-> Network clean up (Mqtt remove?)
|
||||
-> Extra class for maneuver, autopilot should inherit from int16_t
|
||||
-> Remote Control
|
||||
- Leds for gnss rtk etc
|
||||
- what happens exactly when no data is arriving
|
||||
-> Test Menu for big curve driving
|
||||
-> Api with Names and show on Maps in Browser
|
||||
-> Menu structure mit add functions for each menu mit pointer return to config (additional not replace)
|
||||
-> Menu Display from parent as run() to make Menu as Component
|
||||
-> Racing Mode
|
||||
-> ConsolControl
|
||||
-> Menü für Einstellungen
|
||||
- WiFi (save in Flash)
|
||||
-> Battery
|
||||
- tabelle mit eigenen Werten übergeben und nicht in header (wiederverwendbarkeit)
|
||||
- kalibrierungsmethode mit Menü
|
||||
- Daten in flash speichern können
|
||||
-> Check speration between Ui and Route (RouteMenu)
|
||||
-> update sparkfun gnss auf v3 für SPI korrekturdatenüvbetragung
|
||||
-> Rover Objekt mit Error zustand freeze, damit das wenn möglich auch auf dem Display angezeigt wird.
|
||||
-> ESP und Sensoren in den DeepSleep für Auschalten oder Akkuschutz
|
||||
-> Doxygen comments
|
||||
- navigation
|
||||
- autopilot
|
||||
|
||||
|
||||
Do now:
|
||||
Code:
|
||||
Fernbedienung!
|
||||
|
||||
Latex:
|
||||
Anhang: Liste mit allen Komponenten und Kurzbeschreibung
|
||||
Unterschied funktionale und nicht funktionale Anforderungen
|
||||
Overfull H-Boxen
|
||||
Test Motor, Zeiten kontrolieren. Wenn einfach so dann bezug auf fehler bei Timing und freeRtos
|
||||
Was mit den nicht erfüllten Anforderungen machen?
|
||||
|
||||
Reference in New Issue
Block a user