kleiax/Bachelorarbeit-Rover
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zwischenstand, ich habe Lust mache jetzt weiter :)

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This commit is contained in:
kleiax
2022-01-12 15:21:53 +01:00
parent 29a636060c
commit be6f20d96b
10 changed files with 181 additions and 118 deletions
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doc/PinBelegungen.txt
+2 -2
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@@ -5,9 +5,9 @@ ESP32 Rover Pinbelegung
x 22 PWMR x 22 PWMR
x TX PC x TX PC
x RX PC x RX PC
AKKU 35 21 AKKU 35 21 SDA
INTL1 32 GND INTL1 32 GND
INTL2 33 19 INTL2 33 19 SCL
INTB1 25 18 INTB1 25 18
INTB2 26 5 INTB2 26 5
DirL1 27 TX GPS DirL1 27 TX GPS
include/route.h
+39 -44
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@@ -1,58 +1,53 @@
#ifndef ROUTE_H // #ifndef ROUTE_H
#define ROUTE_H // #define ROUTE_H
#include <cstdint> // #include <cstdint>
#include <list> // #include <list>
#include <TinyGPS++.h> // #include <TinyGPS++.h>
#include <Arduino.h> // #include <Arduino.h>
#include "motorControl.h" // #include "motorControl.h"
#include "speedometer.h" // #include "speedometer.h"
#include "debugMqtt.h" // #include "debugMqtt.h"
#include "config.h" // #include "config.h"
struct Point{ // struct Point{
double lat = 0; // double lat = 0;
double lon = 0; // double lon = 0;
bool operator==(const Point& rhs) const { // bool operator==(const Point& rhs) const {
return this->lat == rhs.lat && this->lon == rhs.lon; // return this->lat == rhs.lat && this->lon == rhs.lon;
} // }
}; // };
class Route { // class Route {
public: // public:
Route(); // Route();
void runRoute(); // void runRoute();
void addPointToRoute(Point point); // void addPointToRoute(Point point);
void addCurrentLocationToRoute(); // void addCurrentLocationToRoute();
void delRoute(); // void delRoute();
void resetRoute(); // void resetRoute();
Point startRoute(); // Point startRoute();
Point getNextPoint(); // Point getNextPoint();
uint16_t getNumberOfPoints(); // uint16_t getNumberOfPoints();
static double getDis(Point point_1, Point point_2); // static double getDis(Point point_1, Point point_2);
private: // private:
bool nearlySameLocation(Point p1, Point p2); // bool nearlySameLocation(Point p1, Point p2);
std::list<Point> points; // std::list<Point> points;
std::list<Point>::iterator it; // std::list<Point>::iterator it;
Point currentLocation; // Point currentLocation;
uint16_t count_points = 0; // uint16_t count_points = 0;
bool route_started = false; // bool route_started = false;
bool route_finished = false; // bool route_finished = false;
// };
TinyGPSPlus gps; // #endif // ROUTE_H
DebugMqtt *debug;
};
#endif // ROUTE_H
lib/Navigation/coordinate.cpp
+2
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@@ -0,0 +1,2 @@
#include "coordinate.h"
lib/Navigation/coordinate.h
+31
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@@ -0,0 +1,31 @@
/**
* @file coordinate.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-01-10
*
* @copyright Copyright (c) 2022
*
*/
#ifndef COORDINATE_H
#define COORDINATE_H
#include <stdint.h>
class Coordinate {
public:
Coordinate(/* args */);
~Coordinate();
double getDistance(Coordinate coordinate);
uint16_t getCompassDirection(Coordinate coordinate);
private:
double lon;
double lat;
};
#endif // COORDINATE_H
lib/Navigation/navigation.cpp
+2
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@@ -0,0 +1,2 @@
#include "navigation.h"
lib/Navigation/navigation.h
+33
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@@ -0,0 +1,33 @@
/**
* @file navigation.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2022-01-10
*
* @copyright Copyright (c) 2022
*
*/
#ifndef NAVIGATION_H
#define NAVIGATION_H
#include <Arduino.h>
#include "coordinate.h"
class Navigation {
public:
Navigation(uint32_t baud, uint8_t rx, uint8_t tx);
void addCoordinateToRoute(Coordinate coordinate);
void addCurrentCoordinateToRoute();
void delRoute();
double getDistanceToLastCoordinate();
private:
Coordinate *lastCoordinate;
};
#endif // NAVIGATION_H
src/driveModi/Modi/Autopilot/autopilot.cpp
+1 -4
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@@ -1,12 +1,9 @@
#include "driveModi/Modi/Autopilot/autopilot.h" #include "driveModi/Modi/Autopilot/autopilot.h"
Autopilot::Autopilot() { Autopilot::Autopilot() {
this->debug = new DebugMqtt("Autopilot");
} }
void Autopilot::init(Route *route, MoveControl *moveControl) { void Autopilot::init() {
this->route = route;
this->moveControl = moveControl;
} }
void Autopilot::runAutopilot() { void Autopilot::runAutopilot() {
src/driveModi/Modi/Autopilot/autopilot.h
+1 -2
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@@ -12,13 +12,12 @@ class Autopilot : DriveModi{
public: public:
Autopilot(); Autopilot();
void init(Route *route, MoveControl *moveControl); void init();
void loop(); void loop();
void runAutopilot(); void runAutopilot();
private: private:
Route *route;
MoveControl *moveControl; MoveControl *moveControl;
DebugMqtt *debug; DebugMqtt *debug;
src/main.cpp
+5 -1
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@@ -18,7 +18,7 @@ DriveManager driveManager(&moveController);
void setup() { void setup() {
Serial.begin(115200); Serial.begin(115200);
Serial.println("Welcome..."); Serial.println("Welcome to Kleiax-Rover");
Network::setIps(); Network::setIps();
Network::connectWifi(); Network::connectWifi();
@@ -30,11 +30,15 @@ void setup() {
Ps3.begin(); Ps3.begin();
driveManager.changeModus(Modi::ManualControl); driveManager.changeModus(Modi::ManualControl);
Serial1.begin(GPS_BAUD, SERIAL_8N1, GPS_RX, GPS_TX);
} }
void loop() { void loop() {
Network::checkMQTT(); Network::checkMQTT();
driveManager.loop(); driveManager.loop();
while (Serial1.available() > 0)
Serial.print(Serial1.read());
} }
void callbackControllerAction() { void callbackControllerAction() {
src/route.cpp
+65 -65
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@@ -1,80 +1,80 @@
#include "route.h" // #include "route.h"
#include "config.h" // #include "config.h"
Route::Route() { // Route::Route() {
Serial1.begin(GPS_BAUD, SERIAL_8N1, GPS_RX, GPS_TX); // Serial1.begin(GPS_BAUD, SERIAL_8N1, GPS_RX, GPS_TX);
this->debug = new DebugMqtt("Route"); // this->debug = new DebugMqtt("Route");
} // }
void Route::runRoute() { // void Route::runRoute() {
static uint64_t last_millis = 0; // static uint64_t last_millis = 0;
if (millis() - last_millis < 123456789) { // if (millis() - last_millis < 123456789) {
return; // return;
} // }
last_millis = millis(); // last_millis = millis();
while (Serial1.available() > 0) // while (Serial1.available() > 0)
gps.encode(Serial1.read()); // gps.encode(Serial1.read());
if (gps.location.isUpdated() && gps.location.isValid()) { // if (gps.location.isUpdated() && gps.location.isValid()) {
this->currentLocation.lat = gps.location.lat(); // this->currentLocation.lat = gps.location.lat();
this->currentLocation.lon = gps.location.lng(); // this->currentLocation.lon = gps.location.lng();
} // }
} // }
void Route::addPointToRoute(Point point) { // void Route::addPointToRoute(Point point) {
this->points.push_back(point); // this->points.push_back(point);
this->count_points++; // this->count_points++;
} // }
void Route::addCurrentLocationToRoute() { // void Route::addCurrentLocationToRoute() {
if (*this->points.end() == this->currentLocation && // if (*this->points.end() == this->currentLocation &&
!this->nearlySameLocation(*this->points.end(), this->currentLocation)) { // !this->nearlySameLocation(*this->points.end(), this->currentLocation)) {
return; // return;
} // }
this->addPointToRoute(currentLocation); // this->addPointToRoute(currentLocation);
} // }
void Route::delRoute() { // void Route::delRoute() {
this->points.clear(); // this->points.clear();
this->count_points = 0; // this->count_points = 0;
} // }
Point Route::startRoute() { // Point Route::startRoute() {
this->route_started = true; // this->route_started = true;
this->route_finished = false; // this->route_finished = false;
this->it = this->points.begin(); // this->it = this->points.begin();
return *it; // return *it;
} // }
Point Route::getNextPoint() { // Point Route::getNextPoint() {
if (this->route_started && !route_finished) { // if (this->route_started && !route_finished) {
it++; // it++;
return *it; // return *it;
} // }
if (it == this->points.end()) { // if (it == this->points.end()) {
this->route_finished = true; // this->route_finished = true;
} // }
Point fail; // Point fail;
return fail; // return fail;
} // }
uint16_t Route::getNumberOfPoints() { // uint16_t Route::getNumberOfPoints() {
return this->count_points; // return this->count_points;
} // }
double Route::getDis(Point point_1, Point point_2) { // double Route::getDis(Point point_1, Point point_2) {
double lat = (point_1.lat + point_2.lat) / 2 * 0.1745; // double lat = (point_1.lat + point_2.lat) / 2 * 0.1745;
double dx = 111.3 * cos(lat) * (point_1.lon - point_2.lon); // double dx = 111.3 * cos(lat) * (point_1.lon - point_2.lon);
double dy = 111.3 * (point_1.lat - point_2.lat); // double dy = 111.3 * (point_1.lat - point_2.lat);
return sqrt(dx * dx + dy * dy); // return sqrt(dx * dx + dy * dy);
} // }
bool Route::nearlySameLocation(Point p1, Point p2) { // bool Route::nearlySameLocation(Point p1, Point p2) {
if (this->getDis(p1, p2) < 0.5) // if (this->getDis(p1, p2) < 0.5)
return true; // return true;
return false; // return false;
} // }