kleiax/Bachelorarbeit-Rover
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done with all changes for new encoder

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kleiax
2023-02-21 11:18:49 +01:00
parent 8bb38d560e
commit ba91da7ed3
7 changed files with 106 additions and 85 deletions
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src/moveControl.cpp
+8 -6
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@@ -13,8 +13,8 @@
MoveControl::MoveControl() {
this->left_motor = new MotorControl();
this->right_motor = new MotorControl();
this->left_speedometer = new Speedometer;
this->right_speedometer = new Speedometer;
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_pid = new PID( &this->wheelspeed_left,
&this->left_pid_out,
@@ -36,15 +36,17 @@ MoveControl::MoveControl() {
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_speedometer->init(M_ENCODE_1A, M_ENCODE_1B, WHEEL_DIAMETER, ENC_STEPS);
this->right_speedometer->init(M_ENCODE_2A, M_ENCODE_2B, WHEEL_DIAMETER, ENC_STEPS);
this->right_motor->init(M_PWM_2, PWM_CHANNEL_M2, M_DIR_21, M_DIR_22);
}
MoveControl::~MoveControl() {
this->left_motor->emergencyStop();
this->right_motor->emergencyStop();
delete this->left_motor;
delete this->right_motor;
delete this->left_speedometer;
delete this->right_speedometer;
}
void MoveControl::loop() {