Merge branch 'main' of git.kleiax.de:kleiax/Projektarbeit-Rover into main

src/driveModi/Modi/ManualControl/manualControl.cpp

@@ -26,14 +26,30 @@ void ManualControl::loop() {
     if (this->caliCompass)
         this->caliCompass->loop();
 
-    if (millis() - this->lastMillis < delay) {
+    if (millis() - this->lastMillis < delay)
         return;
+    
+    switch (this->inputMode) {
+        case InputMode::Analog :
+            this->analogControl();
+            break;
+
+        case InputMode::Digital :
+            this->digitalControl();
+            break;
+        
+        default:
+            break;
     }
-    this->runManualControl();
+
     this->lastMillis = millis();
 }
 
-void ManualControl::runManualControl() {
+void ManualControl::switchInputMode() {
+    this->inputMode = (this->inputMode == InputMode::Analog) ? InputMode::Digital : InputMode::Analog;
+}
+
+void ManualControl::analogControl() {
     // Have to be int16_t to avoid overflow (int8_t = 255 - 127 = -128)
     int16_t y = this->input->x - 127;
     int16_t x = this->input->y - 127;
@@ -49,3 +65,30 @@ void ManualControl::runManualControl() {
     value_per_step = this->max_rotation * 2 / UINT8_MAX;
     this->moveControl->setRotationSpeed(x * value_per_step);
 }
+
+void ManualControl::digitalControl() {
+    int16_t y = this->input->x - 127;
+    int16_t x = this->input->y - 127;
+
+    if (y > 120)
+        this->moveControl->setSpeed(-this->max_speed);
+    else if (y < -120)
+        this->moveControl->setSpeed(this->max_speed);
+    else
+        this->moveControl->setSpeed(0);
+
+    if (x > 120)
+        this->moveControl->setRotationSpeed(this->max_rotation);
+    else if (x < -120)
+        this->moveControl->setRotationSpeed(-this->max_rotation);
+    else
+        this->moveControl->setRotationSpeed(0);
+
+    if (this->directionChangeWrapper && (x > 120 || x < -120))
+        this->lastLoopTurned = true;
+    else if (this->lastLoopTurned) {
+        if (this->directionChangeWrapper)
+            this->directionChangeWrapper->action();
+        this->lastLoopTurned = false;
+    }      
+}

src/driveModi/Modi/ManualControl/manualControl.h

@@ -16,6 +16,11 @@
 #include "controlPadInput.h"
 #include "calibrateCompass.h"
 
+class DirectionChangeWrapper {
+    public:
+        virtual void action() = 0;
+};
+
 /**
  * @brief Drive the Rover with a Joystick
  * 
@@ -26,6 +31,11 @@
  */
 class ManualControl : public DriveModi {
     public:
+        enum class InputMode : uint8_t {
+            Analog,
+            Digital
+        };
+
         ManualControl(MoveControl *moveControl, const ControlPadInput *input);
 
         /**
@@ -35,7 +45,7 @@ class ManualControl : public DriveModi {
         ~ManualControl();
 
         /**
-         * @brief Calls runManualControl() to update all values.
+         * @brief Calls analogControl() to update all values.
          * 
          * This function should be called every mainloop. If the delay is not reached, than the
          * functions returns immediately.
@@ -44,12 +54,6 @@ class ManualControl : public DriveModi {
          */
         void loop() override;
 
-        /**
-         * @brief Noramly called repeatedly by loop() to calcluate new values.
-         * Set new values for speed and rotation in moveControl
-         */
-        void runManualControl();
-
         /**
          * @brief Set the min delay between each loop
          * 
@@ -79,6 +83,11 @@ class ManualControl : public DriveModi {
 
         void setCalibrateCompass(CalibrateCompass* val = nullptr) { this->caliCompass = val; }
 
+        void switchInputMode();
+        void setInputMode(InputMode mode) { this->inputMode = mode; }
+        InputMode getInputMode() const { return this->inputMode; }
+        void setDirectionChangeCallback(DirectionChangeWrapper* callback) { this->directionChangeWrapper = callback; }
+
         uint16_t getDutycycleLeft() const { return this->moveControl->getDutycycleLeft(); }
         uint16_t getDutycycleRight() const { return this->moveControl->getDutycycleRight(); }
 
@@ -87,11 +96,21 @@ class ManualControl : public DriveModi {
         const ControlPadInput* input;
 
     private:
-        uint32_t lastMillis = 0;
+        /**
+         * @brief Noramly called repeatedly by loop() to calcluate new values.
+         * Set new values for speed and rotation in moveControl
+         */
+        void analogControl();
+        void digitalControl();
+
+        bool lastLoopTurned = false;
         uint8_t delay = 10;
+        uint32_t lastMillis = 0;
         double max_speed = 1;
         double max_rotation = 7;
         CalibrateCompass* caliCompass = nullptr;
+        DirectionChangeWrapper* directionChangeWrapper = nullptr;
+        InputMode inputMode = InputMode::Analog;
 };
 
 #endif // MANUAL_CONTROL_H