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comments for Doxygen all private Libs

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kleiax
2021-12-13 16:44:53 +01:00
parent a1d59c18ad
commit a7940c887b
11 changed files with 448 additions and 163 deletions
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lib/MotorControl/motorControl.cpp
-167
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@@ -1,167 +0,0 @@
#include "motorControl.h"
MotorControl::MotorControl() {}
void MotorControl::init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t dir_1, uint8_t dir_2) {
this->pwm_pin = pwm_pin;
this->pwm_channel = pwm_channel;
this->dir_1 = dir_1;
this->dir_2 = dir_2;
pinMode(this->dir_1, OUTPUT);
pinMode(this->dir_2, OUTPUT);
digitalWrite(this->dir_1, LOW);
digitalWrite(this->dir_2, LOW);
ledcSetup(this->pwm_channel, PWMFREQ, PWMRES);
ledcAttachPin(this->pwm_pin, this->pwm_channel);
ledcWrite(this->pwm_channel, 0);
}
void MotorControl::loop() {
static uint32_t last_millis = 0;
uint32_t time = millis();
//Cancel if delay is not reached
if (time - last_millis < delay) {
return;
}
runMotorControl();
last_millis = time;
}
void MotorControl::runMotorControl() {
// Absolute difference between target_power and speed
uint8_t abs_difference = abs(this->target_power - this->power);
// Difference between target_power and speed
int16_t difference = this->target_power - this->power;
// Check that the target speed is close to 0 and that the abs_difference is lower than powersteps
if (abs(this->target_power) < powersteps && abs_difference < powersteps) {
this->setRealPower(0);
return;
}
// Correct speed
if (abs_difference < powersteps) {
return;
}
// Positive or negative tagret speed
if (this->target_power >= 0) {
// Positive or negative speed
if (this->power >= 0) {
if (difference > 0) {
this->increasePower(powersteps);
} else {
this->increasePower(-powersteps);
}
} else {
this->increasePower(powersteps);
}
} else {
// Positive or negative speed
if (this->power >= 0) {
this->increasePower(-powersteps);
} else {
if (difference > 0) {
this->increasePower(powersteps);
} else {
this->increasePower(-powersteps);
}
}
}
}
void MotorControl::setTargetPower(int8_t power) {
if (power <= 100 && power >= -100) {
this->target_power = power;
} else {
char str[64];
sprintf(str, "Invalid Argument (power: %d) in setTargetPower!", power);
}
}
void MotorControl::stop() {
this->target_power = 0;
}
void MotorControl::emergencyStop() {
setRealPower(0);
while(1)
}
void MotorControl::toString() {
Serial.printf("Target power: %d, power: %d, direction: %d \n", this->target_power, this->power, this->direction);
}
int8_t MotorControl::getPower() {
return this->power;
}
int8_t MotorControl::getTargetPower() {
return this->target_power;
}
bool MotorControl::isTargetPowerReached() {
if (this->target_power == this->power)
return true;
return false;
}
bool MotorControl::isAccelerationPositive() {
if (power < target_power)
return true;
return false;
}
bool MotorControl::isAccelerationNegative() {
if (power > target_power)
return true;
return false;
}
void MotorControl::setRealPower(int8_t power) {
//TODO: Exceptionhandling
if (power <= 100 || power <= -100) {
this->power = power;
} else {
return;
}
if (power == 0) {
this->direction = 0;
digitalWrite(this->dir_1, LOW);
digitalWrite(this->dir_2, LOW);
ledcWrite(this->pwm_channel, 0);
return;
}
uint8_t pwm_val = map(abs(power), 0, 100, this->pwm_min, this->pwm_max);
if ((this->direction == 1 || this->direction == 0) && power < 0){ // new direction backward
this->direction = 2;
digitalWrite(this->dir_1, LOW);
digitalWrite(this->dir_2, HIGH);
} else if ((this->direction == 2 || this->direction == 0) && power > 0){ // new direction forward
this->direction = 1;
digitalWrite(this->dir_1, HIGH);
digitalWrite(this->dir_2, LOW);
}
ledcWrite(this->pwm_channel, pwm_val);
}
void MotorControl::increasePower(int8_t power) {
//TODO: Exceptionhandling
//TODO: make a stop befor a direction change
if (abs(power) > 2 * powersteps) {
Serial.println("Invalid Argument in MotorControl::increasePower");
return;
}
this->setRealPower(this->power + power);
}