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more refactor bug fixes

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kleiax
2023-10-13 14:17:51 +02:00
parent f0474027be
commit a7930e2915
14 changed files with 21 additions and 655 deletions
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.vscode/settings.json
Vendored
+1
View File
@@ -129,6 +129,7 @@
"carr", "carr",
"CIPO", "CIPO",
"COPI", "COPI",
"deadzone",
"Doxygen", "Doxygen",
"Dutycycle", "Dutycycle",
"gast", "gast",
doc/Diagrams/classdiagramm.uxf
-157
View File
@@ -1,157 +0,0 @@
<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>&lt;&lt;hardware&gt;&gt;
MotorControl
--
- target_power: int8_t
- power: int8_t
- direction: uint8_t
- pwm_pin: uint8_t
- pwm_channel: uint8_t
- pwm_res: uint8_t
- dutycycle_min: uint8_t
- dutycycle_max: uint8_t
- direction_1: uint8_t
- direction_2: uint8_t
- delay: uint8_t
- powersteps: uint8_t
- last_millis: uint32_t
--
+ MotorControl()
+ init(pwm_pin: uint8_t,
  pwm_channel: uint8_t,
  dir_1: uint8_t, dir_2: uint8_t)
+ loop(): uint16_t
+ runMotorControl()
+ setMinPwm(uint8_t)
+ setMaxPwm(uint8_t)
+ setPowerSteps(uint8_t): uint16_t
+ setTargetPower(uint8_t)
+ setDelay(uint8_t): uint16_t
+ stop()
+ emergencyStop()
+ toString()
+ getPower(): int8_t
+ getTargetPower(): int8_t
+ isTargetPowerReached(): bool
+ isAccelerationPositive(): bool
+ isAccelerationNegative(): bool
- setRealPower(power: int8_t)
- increasePower(power: int8_t)
</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>&lt;&lt;hardware&gt;&gt;
Speedometer
--
- encoder: ESP32Encoder
- debug: DebugMqtt*
- name: String
- speed: double = 0
- last_millis: uint64_t = 0;
- bufPos: uint8_t
- buf: int16_t[BUF_SIZE]
--
+ Speedometer()
+ init(pinA: uint8_t,
   pinB: uint8_t,
   name: String)
+ runSpeedometer()
+ setTargetPower(power: int8_t)
+ getSpeed(): double
+ getDirection(): uint8_t
- addValToBuf(val: int16_t)
- 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
--
- debug: DebugMqtt*
- left_motor: MotorControl*
- right_motor: MotorControl*
- left_speedometer: Speedometer*
- right_speedometer: Speedometer*
- driving_status: DrivingStatus = stop
- x_speed: double = 0
- rotation_speed: double = 0
- wheelspeed_left_target: double = 0
- wheelspeed_right_target: double = 0
--
+ MoveControl()
+ init(left_motor: MotorControl*,
   right_motor: MotorControl*,
   left_speedometer: Speedometer*,
   right_speedometer: Speedometer*)
+ runMoveControl()
+ setDrivingStatus(status: DrivingStatus)
+ setSpeed(speed: double)
+ setRotationspeed(speed: double)
- calcWheelSpeed()
- 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>&lt;&lt;driveModi&gt;&gt;
ManualControl
--
- encoder: ESP32Encoder
- debug: DebugMqtt*
- name: String
- speed: double = 0
- last_millis: uint64_t = 0;
- bufPos: uint8_t
- buf: int16_t[BUF_SIZE]
--
+ Speedometer()
+ init(pinA: uint8_t,
   pinB: uint8_t,
   name: String)
+ runSpeedometer()
+ setTargetPower(power: int8_t)
+ getSpeed(): double
+ getDirection(): uint8_t
- addValToBuf(val: int16_t)
- 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
--
# parentMenu: MenuControl*
# lcd: LiquidCrystal_I2C*
--
/+down()/
/+up()/
/+right()/
/+left()/
/+yes()/
/+no()/
/+update()/
/+printMenu()/
+ setParentMenu(MenuControl*)
+ 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
--
- name: char*
- *function: void
- *callback: void
- isMenu: bool
- menu: MenuControl
--
+ MenuAction(const char*, (*function), (*callback))
+ MenuAction(const char*, (*function))
+ MenuAction(const char*, MenuControl* menu)
+ runAction()
+ getName(): const char*
+ getIsMenu(): bool
+ getMenu(): MenuControl*
</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
--
- inSubmenu: bool
- entrys: list&lt;MenuAction*&gt;
- selectedEntry: list&lt;MenuAction*&gt;::iterator
- isMenu: bool
- menu: MenuControl
--
+ addEntry(MenuAction* entry)
</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=&lt;&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=-
m1=*
m2=0..1</panel_attributes><additional_attributes>10;10;10;160;140;160</additional_attributes></element></diagram>
doc/Diagrams/statesAutopilot.uxf
-390
View File
@@ -1,390 +0,0 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<diagram program="umlet" version="14.3.0">
<zoom_level>10</zoom_level>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>40</x>
<y>20</y>
<w>20</w>
<h>20</h>
</coordinates>
<panel_attributes>type=initial</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>Relation</id>
<coordinates>
<x>40</x>
<y>20</y>
<w>130</w>
<h>30</h>
</coordinates>
<panel_attributes>lt=&lt;-</panel_attributes>
<additional_attributes>110.0;10.0;10.0;10.0</additional_attributes>
</element>
<element>
<id>UMLState</id>
<coordinates>
<x>150</x>
<y>10</y>
<w>100</w>
<h>40</h>
</coordinates>
<panel_attributes>search next point
bg=green</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLSpecialState</id>
<coordinates>
<x>180</x>
<y>90</y>
<w>40</w>
<h>40</h>
</coordinates>
<panel_attributes>bg=green
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=&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
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=&lt;-
[distance &lt;= 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=&lt;-
[distance &gt; 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=&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=&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=&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=-&gt;</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=&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=&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=&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=-&gt;</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=&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=&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>
doc/TODO allgemein.txt
-39
View File
@@ -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: Do now:
Code: Code:
Fernbedienung!
Latex: Latex:
Anhang: Liste mit allen Komponenten und Kurzbeschreibung
Unterschied funktionale und nicht funktionale Anforderungen
Overfull H-Boxen Overfull H-Boxen
Test Motor, Zeiten kontrolieren. Wenn einfach so dann bezug auf fehler bei Timing und freeRtos Test Motor, Zeiten kontrolieren. Wenn einfach so dann bezug auf fehler bei Timing und freeRtos
Was mit den nicht erfüllten Anforderungen machen? Was mit den nicht erfüllten Anforderungen machen?
include/moveControl.h
+1
View File
@@ -87,6 +87,7 @@ public:
* @param status * @param status
*/ */
void setDrivingStatus(Status status); void setDrivingStatus(Status status);
Status getDrivingStatus() const { return this->driving_status; }
/** /**
* @brief Stops the engine immediately * @brief Stops the engine immediately
include/networkConfig.h
+2 -2
View File
@@ -14,12 +14,12 @@
#include <stdint.h> #include <stdint.h>
#define HW1 #define HOTSPOT
#ifdef HOTSPOT #ifdef HOTSPOT
namespace NetworkConfig namespace NetworkConfig
{ {
const char ssid[] = "Kleiax Handy"; const char ssid[] = "KleiaxHandy";
const char password[] = "12345677"; const char password[] = "12345677";
const char ip[] = "192.168.43.4"; const char ip[] = "192.168.43.4";
const char subnet[] = "255.255.255.0"; const char subnet[] = "255.255.255.0";
lib/Menu
Submodule
+1
Submodule lib/Menu added at 35b1478666
lib/MotorControl/motorControl.cpp
+5 -24
View File
@@ -33,6 +33,7 @@ void MotorControl::init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8
ledcSetup(this->pwmChannel, MotorControl::pwmFreq, MotorControl::pwmRes); ledcSetup(this->pwmChannel, MotorControl::pwmFreq, MotorControl::pwmRes);
ledcAttachPin(this->pwmPin, this->pwmChannel); ledcAttachPin(this->pwmPin, this->pwmChannel);
ledcWrite(this->pwmChannel, 0); ledcWrite(this->pwmChannel, 0);
std::cout << "Init pwm" << std::endl;
} }
void MotorControl::run() void MotorControl::run()
@@ -56,7 +57,7 @@ void MotorControl::run()
return; return;
} }
// Positive or negative tagret speed // Positive or negative target speed
if (this->targetPower >= 0) if (this->targetPower >= 0)
{ {
// Positive or negative speed // Positive or negative speed
@@ -97,28 +98,6 @@ void MotorControl::run()
} }
} }
void MotorControl::setMinPwm(uint8_t min)
{
if (min > MotorControl::maxPwmMin)
{
min = MotorControl::maxPwmMin;
}
// transform percentage to real pwm value
min = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (min / 100.0));
this->dutycycleMin = min;
}
void MotorControl::setMaxPwm(uint8_t max)
{
if (max > 100)
{
max = 100;
}
// transform percentage to real pwm value
max = static_cast<uint8_t>(((static_cast<uint8_t>(1) << pwmRes) - 1) * (max / 100.0));
this->dutycycleMax = max;
}
void MotorControl::setTargetPower(int8_t power) void MotorControl::setTargetPower(int8_t power)
{ {
if (power <= 100 && power >= -100) if (power <= 100 && power >= -100)
@@ -174,10 +153,11 @@ void MotorControl::setRealPower(int8_t power)
digitalWrite(this->dir_2, LOW); digitalWrite(this->dir_2, LOW);
ledcWrite(this->pwmChannel, 0); ledcWrite(this->pwmChannel, 0);
this->dutycycle = 0; this->dutycycle = 0;
std::cout << "abort" << std::endl;
return; return;
} }
const uint8_t pwm_val = map(abs(power), 0, 100, this->dutycycleMin, this->dutycycleMax); const uint8_t pwm_val = map(abs(power), 0, 100, MotorControl::minPwmVal, MotorControl::maxPwmVal);
if ((this->direction == 1 || this->direction == 0) && power < 0) if ((this->direction == 1 || this->direction == 0) && power < 0)
{ // new direction backward { // new direction backward
@@ -192,6 +172,7 @@ void MotorControl::setRealPower(int8_t power)
digitalWrite(this->dir_2, LOW); digitalWrite(this->dir_2, LOW);
} }
std::cout << "MotorControl::setRealPower pwm_val: " << (int) pwm_val << " channel:" << (int) this->pwmChannel << std::endl;
ledcWrite(this->pwmChannel, pwm_val); ledcWrite(this->pwmChannel, pwm_val);
this->dutycycle = pwm_val; this->dutycycle = pwm_val;
} }
lib/MotorControl/motorControl.h
+2 -16
View File
@@ -38,20 +38,6 @@ public:
*/ */
void init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2); void init(uint8_t pwmPin, uint8_t pwmChannel, uint8_t dir_1, uint8_t dir_2);
/**
* @brief Set the minimum duty cycle
*
* @param min duty cycle in percent
*/
void setMinPwm(uint8_t min);
/**
* @brief Set the maximum duty cycle
*
* @param max duty cycle in percent
*/
void setMaxPwm(uint8_t max);
/** /**
* @brief Set the Target Power * @brief Set the Target Power
* *
@@ -103,6 +89,8 @@ private:
static constexpr uint8_t pwmRes = 8; static constexpr uint8_t pwmRes = 8;
static constexpr uint8_t powerSteps = 2; // A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms static constexpr uint8_t powerSteps = 2; // A total of 20 levels ( 100 / SPEED_STEPS ) * RUN_MOTOR_CONTROL_DELAY = 500ms
static constexpr uint8_t maxPwmMin = 80; static constexpr uint8_t maxPwmMin = 80;
static constexpr uint8_t maxPwmVal = 250;
static constexpr uint8_t minPwmVal = 55; // Max 98% of 2^PWM_RES
int8_t targetPower = 0; int8_t targetPower = 0;
int8_t power = 0; int8_t power = 0;
@@ -111,8 +99,6 @@ private:
uint8_t pwmPin = 0; uint8_t pwmPin = 0;
uint8_t pwmChannel = 0; uint8_t pwmChannel = 0;
uint16_t dutycycle = 0; uint16_t dutycycle = 0;
uint8_t dutycycleMin = 55;
uint8_t dutycycleMax = 98; // Max 98% of 2^PWM_RES
uint8_t dir_1 = 0; uint8_t dir_1 = 0;
uint8_t dir_2 = 0; uint8_t dir_2 = 0;
}; };
lib/Sensors/sensorData.h
-1
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@@ -13,7 +13,6 @@
#define SENSOR_DATA_H #define SENSOR_DATA_H
#include <SPI.h> #include <SPI.h>
#include <I2Cdev.h>
#include <iostream> #include <iostream>
#include "component.h" #include "component.h"
platformio.ini
+2 -22
View File
@@ -15,16 +15,14 @@ board_build.partitions = no_ota.csv
framework = arduino framework = arduino
monitor_speed = 115200 monitor_speed = 115200
upload_speed = 921600 upload_speed = 921600
; monitor_port = COM6 monitor_port = COM6
lib_deps = lib_deps =
https://git.kleiax.de/PlatformIO-Libs/SparkFunGNSS.git https://git.kleiax.de/PlatformIO-Libs/SparkFunGNSS.git
knolleary/PubSubClient@^2.8 knolleary/PubSubClient@^2.8
br3ttb/PID@^1.2.1 br3ttb/PID@^1.2.1
marcoschwartz/LiquidCrystal_I2C@^1.1.4 marcoschwartz/LiquidCrystal_I2C@^1.1.4
bblanchon/ArduinoJson@^6.20.0
mprograms/QMC5883LCompass@^1.2.0 mprograms/QMC5883LCompass@^1.2.0
jrowberg/I2Cdevlib-MPU6050@^1.0.0 upload_port = COM6
; upload_port = COM6
test_ignore = test_desktop test_ignore = test_desktop
build_type = debug build_type = debug
monitor_filters = esp32_exception_decoder monitor_filters = esp32_exception_decoder
@@ -42,21 +40,3 @@ test_ignore = test_embedded
[platformio] [platformio]
description = A Rover who should be drive a route by gps. description = A Rover who should be drive a route by gps.
; Bei Möglichkeit folgendes aus clang tidy entfernen
; cppcoreguidelines-owning-memory
;
;
;
;
;
;
;
;
;
;
;
;
;
#
src/SpecialMenus/driveModi/menuDriveMode.cpp
-1
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@@ -48,7 +48,6 @@ void MenuDriveMode::left()
this->firstPrint = true; this->firstPrint = true;
this->configureOnLeave(); this->configureOnLeave();
delete this->menuSpeed;
this->driveManager->changeModus(); this->driveManager->changeModus();
MenuInformationSites::left(); MenuInformationSites::left();
} }
src/driveModi/Modi/ManualControl/manualControl.cpp
+1 -1
View File
@@ -47,7 +47,7 @@ void ManualControl::analogControl()
void ManualControl::digitalControl() void ManualControl::digitalControl()
{ {
static constexpr uint8_t deadzone = 120; static constexpr uint8_t deadzone = 110;
const int16_t yAxis = this->input->x - 127; const int16_t yAxis = this->input->x - 127;
const int16_t xAxis = this->input->y - 127; const int16_t xAxis = this->input->y - 127;
src/main.cpp
+6 -2
View File
@@ -129,12 +129,16 @@ void setup()
{ {
wifiIndicator = '-'; wifiIndicator = '-';
} }
lcdWrapper = new LcdWrapper(lcd);
lcdWrapper->setCallback(lcdWrapperCallback);
lcdWrapper->loop();
lcd->backlight(); lcd->backlight();
lcd->setCursor(0, 0);
lcd->printf("%c Kleiax-Rover %c", wifiIndicator, wifiIndicator); lcd->printf("%c Kleiax-Rover %c", wifiIndicator, wifiIndicator);
lcd->setCursor(0, 1); lcd->setCursor(0, 1);
lcd->printf("WiFi channel %u", Network::getCurrentChannel()); lcd->printf("WiFi channel %u", Network::getCurrentChannel());
lcdWrapper = new LcdWrapper(lcd);
lcdWrapper->setCallback(lcdWrapperCallback);
makeMenu(); makeMenu();