kleiax/Bachelorarbeit-Rover
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remove most of the defines

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kleiax
2023-08-18 15:34:56 +02:00
parent 4cd2b9368d
commit a82b32087c
21 changed files with 155 additions and 285 deletions
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src/moveControl.cpp
+16 -12
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@@ -14,30 +14,34 @@ MoveControl::MoveControl() {
this->loopDelay = 20;
this->left_motor = new MotorControl();
this->right_motor = new MotorControl();
this->left_speedometer = new Speedometer(M_ENCODE_LEFT, WHEEL_DIAMETER, ENC_STEPS);
this->right_speedometer = new Speedometer(M_ENCODE_RIGHT, WHEEL_DIAMETER, ENC_STEPS);
this->left_speedometer = new Speedometer(PinNumbers::LeftMotor::encoder, Settings::wheelDiameter, Settings::encoderSteps);
this->right_speedometer = new Speedometer(PinNumbers::RightMotor::encoder, Settings::wheelDiameter, Settings::encoderSteps);
this->left_pid = new PID( &this->wheelspeed_left,
&this->left_pid_out,
&this->wheelspeed_left_target,
PID_LEFT_P, PID_LEFT_I, PID_LEFT_D,
Settings::Pid::Left::P,
Settings::Pid::Left::I,
Settings::Pid::Left::D,
DIRECT);
this->right_pid = new PID( &this->wheelspeed_right,
&this->right_pid_out,
&this->wheelspeed_right_target,
PID_RIGHT_P, PID_RIGHT_I, PID_RIGHT_D,
Settings::Pid::Right::P,
Settings::Pid::Right::I,
Settings::Pid::Right::D,
DIRECT);
this->left_pid->SetOutputLimits(PID_OUT_MIN, PID_OUT_MAX);
this->left_pid->SetSampleTime(PID_SAMPLETIME);
this->left_pid->SetOutputLimits(Settings::Pid::outMin, Settings::Pid::outMax);
this->left_pid->SetSampleTime(Settings::Pid::sampleTime);
this->left_pid->SetMode(AUTOMATIC);
this->right_pid->SetOutputLimits(PID_OUT_MIN, PID_OUT_MAX);
this->right_pid->SetSampleTime(PID_SAMPLETIME);
this->right_pid->SetOutputLimits(Settings::Pid::outMin, Settings::Pid::outMax);
this->right_pid->SetSampleTime(Settings::Pid::sampleTime);
this->right_pid->SetMode(AUTOMATIC);
this->left_motor->init(M_PWM_1, PWM_CHANNEL_M1, M_DIR_11, M_DIR_12);
this->right_motor->init(M_PWM_2, PWM_CHANNEL_M2, M_DIR_21, M_DIR_22);
this->left_motor->init(PinNumbers::LeftMotor::pwm, PinNumbers::LeftMotor::pmwChannel, PinNumbers::LeftMotor::dir1, PinNumbers::LeftMotor::dir2);
this->right_motor->init(PinNumbers::RightMotor::pwm, PinNumbers::RightMotor::pmwChannel, PinNumbers::RightMotor::dir1, PinNumbers::RightMotor::dir2);
this->addChildComponent(this->left_motor);
this->addChildComponent(this->right_motor);
@@ -165,8 +169,8 @@ void MoveControl::calcTargetWheelSpeed() {
// (1 / r) * b
constexpr double B = 2.096518987;
this->wheelspeed_right_target = (A * this->x_speed + B * this->rotation_speed) * (WHEEL_DIAMETER / 2);
this->wheelspeed_left_target = (A * this->x_speed + (-B) * this->rotation_speed) * (WHEEL_DIAMETER / 2);
this->wheelspeed_right_target = (A * this->x_speed + B * this->rotation_speed) * (Settings::wheelDiameter / 2);
this->wheelspeed_left_target = (A * this->x_speed + (-B) * this->rotation_speed) * (Settings::wheelDiameter / 2);
}
void MoveControl::regulateMotors() {