kleiax/Bachelorarbeit-Rover
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ready to test capture Route and Autopiloz

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kleiax
2022-02-03 19:50:48 +01:00
parent 5ca21b09b2
commit bc37abcb66
20 changed files with 226 additions and 39 deletions
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src/main.cpp
+8 -6
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@@ -15,8 +15,9 @@
#include "menu.h"
#include "menuAction.h"
#include "SpecialMenus/menuPidSettings.h"
#include "SpecialMenus/menuManualDrive.h"
#include "SpecialMenus/menuCaptureRoute.h"
#include "SpecialMenus/ManualDrive/menuManualDrive.h"
#include "SpecialMenus/CaptureRoute/menuCaptureRoute.h"
#include "SpecialMenus/Autopilot/menuAutopilot.h"
#include "SpecialMenus/menuGPS.h"
MoveControl moveController;
@@ -34,12 +35,11 @@ void controllerPrintBattery();
void i2cScanner();
void restart();
void exitDriveMode() {driveManager.changeModus(Modi::Off);}
void setup() {
Serial.begin(115200);
std::cout << "Welcome to Kleiax-Rover" << std::endl;
std::cout << "All actions from the main programm run on" << xPortGetCoreID() << std::endl;
std::cout << "All actions from the main programm run on Core -> " << xPortGetCoreID() << std::endl;
Wire.begin(21, 19);
// i2cScanner();
@@ -67,6 +67,7 @@ void setup() {
MenuPidSettings* pidr_m = new MenuPidSettings(moveController.getPID(1));
MenuManualControl* man_m = new MenuManualControl(&driveManager);
MenuCaptureRoute* cap_m = new MenuCaptureRoute(&driveManager);
MenuAutopilot* auto_m = new MenuAutopilot(&driveManager);
MenuGPS* gps_m = new MenuGPS(driveManager.getNavigation()->getGPS());
// Set Menus on LCD
@@ -77,6 +78,7 @@ void setup() {
pidr_m->setLcd(lcd);
man_m->setLcd(lcd);
cap_m->setLcd(lcd);
auto_m->setLcd(lcd);
gps_m->setLcd(lcd);
@@ -91,7 +93,7 @@ void setup() {
main_m->addEntry(restart_e);
// Entry for the mode Menu
MenuAction* autopilot_e = new MenuAction("Autopilot", dummy);
MenuAction* autopilot_e = new MenuAction("Autopilot", auto_m);
MenuAction* captureRoute_e = new MenuAction("Capture Route", cap_m);
MenuAction* consolControl_e = new MenuAction("Consol Control", dummy);
MenuAction* manualControl_e = new MenuAction("Manual Control", man_m);
@@ -153,7 +155,7 @@ void callbackControllerAction() {
void callbackControllerConnect() {
std::cout << "Controller connected to ESP32" << std::endl;
std::cout << "All actions from the Controller run on" << xPortGetCoreID() << std::endl;
std::cout << "All actions from the Controller run on Core -> " << xPortGetCoreID() << std::endl;
// TODO: Display is not functional without this seconde init, first init is in setup()
lcd->init();