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for all files in lib folder
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kleiax
2023-10-12 18:45:12 +02:00
parent 61a95e4601
commit db74898b72
41 changed files with 1030 additions and 569 deletions
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include/Version.h
+7 -8
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@@ -1,9 +1,8 @@
// AUTO GENERATED FILE, DO NOT EDIT
#ifndef VERSION
#define VERSION "0.8.36"
#endif
#ifndef BUILD_TIMESTAMP
#define BUILD_TIMESTAMP "2023-08-13 15:13:34.491991"
#endif
// AUTO GENERATED FILE, DO NOT EDIT
#ifndef VERSION
#define VERSION "1.8.36"
#endif
#ifndef BUILD_TIMESTAMP
#define BUILD_TIMESTAMP "2023-10-13 15:13:34.491991"
#endif
include/moveControl.h
+147 -143
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@@ -4,9 +4,9 @@
* @brief Contains the MoveControl class
* @version 0.1
* @date 2021-12-14
*
*
* @copyright Copyright (c) 2021
*
*
*/
#ifndef MOVE_CONTROL_H
#define MOVE_CONTROL_H
@@ -22,178 +22,182 @@
#include "debugTimes.h"
#include "component.h"
/**
* @brief A struct to easy set the speed
*
*
*/
struct DrivingSpeeds {
struct DrivingSpeeds
{
double x;
double rot;
};
/**
* @brief This class manages the motors and the encoders
*
*
* The class uses two PIDs to control the motors. The PIDs
* use the Speedometer class to get the current speed and the
* given target speed to calculate a new duty cycle for the motors.
*
*
*/
class MoveControl : public Component {
public:
/**
* @brief used to set driving status
*
* When set to stop all motors are set to halt
* When set to Raw the PIDs are not used. The target
* values must be given withe @see setRawPowerLeft and
* @see setRawPowerRight.
*
* Drive is the normal working mode.
*
*/
enum Status {Stop,
Drive,
Raw};
class MoveControl : public Component
{
public:
/**
* @brief Used to set driving status
*
* When set to stop all motors are set to halt
*
* When set to Raw the PIDs are not used. The target
* values must be given withe setRawPowerLeft() and
* setRawPowerRight().
*
* Drive is the normal working mode.
*
*/
enum Status
{
Stop,
Drive,
Raw
};
/**
* @brief Construct a new Move Control object
*
* Initialize the motors, encoders and PIDs with given
* values in config.h
*/
MoveControl();
/**
* @brief Construct a new Move Control object
*
* Initialize the motors, encoders and PIDs with given
* values in config.h
*/
MoveControl();
/**
* @brief Destroy the Move Control object
*
* Stops the motors with emergencyStop()
*/
~MoveControl();
/**
* @brief Destroy the Move Control object
*
* Stops the motors with emergencyStop()
*/
~MoveControl();
/**
* @brief Set the Status
*
* Control if this component should work normally or with
* raw values for the motors.
*
* @see Status
* @param status
*/
void setDrivingStatus(Status status);
/**
* @brief Set the Status
*
* Control if this component should work normally or with
* raw values for the motors.
*
* @see Status
* @param status
*/
void setDrivingStatus(Status status);
/**
* @brief Stops the engine immediately
*
*/
void emergencyStop();
/**
* @brief Stops the engine immediately
*
*/
void emergencyStop();
/**
* @brief Set the target speed
*
* If the given speed is close to zero, then the
* target speed is set to zero.
* @param speed in m/s
*/
void setSpeed(double speed);
/**
* @brief Set the target speed
*
* If the given speed is close to zero, then the
* target speed is set to zero.
* @param speed in m/s
*/
void setSpeed(double speed);
/**
* @brief Set the rotationSpeed
*
* If the given rotationSpeed is close to zero, then the
* target rotationSpeed is set to zero.
* @param speed rad/s
*/
void setRotationSpeed(double speed);
/**
* @brief Set the rotationSpeed
*
* If the given rotationSpeed is close to zero, then the
* target rotationSpeed is set to zero.
* @param speed rad/s
*/
void setRotationSpeed(double speed);
/**
* @brief Set the speeds
*
* This function is a combination of the functions setSpeed() and
* setRotationSpeed(). The struct DrivingSpeeds
* is used for this.
*
*
* @param drivingSpeeds
*/
void setSpeeds(DrivingSpeeds drivingSpeeds);
/**
* @brief Set the speeds
*
* This function is a combination of @see setSpeed and
* @see setRotationSpeed. The struct @see DrivingSpeeds
* is used for this.
*
* @param drivingSpeeds
*/
void setSpeeds(DrivingSpeeds drivingSpeeds);
/**
* @brief Set raw power left
*
* This value has only an effect if the status is raw.
* @see setDrivingStatus
*
* @param power between -100 and 100
*/
void setRawPowerLeft(int16_t power);
/**
* @brief Set raw power left
*
* This value has only an effect if the status is raw.
* @see setDrivingStatus
*
* @param power between -100 and 100
*/
void setRawPowerLeft(int16_t power);
/**
* @brief Set the raw power right
*
* This value has only an effect if status is raw.
*
* @param power between -100 and 100
*/
void setRawPowerRight(int16_t power);
/**
* @brief Set the raw power right
*
* This value has only an effect if status is raw.
*
* @param power between -100 and 100
*/
void setRawPowerRight(int16_t power);
/**
* @brief Set the pid tunings
*
* @param side 0 -> left, 1 -> right
* @param pPart
* @param iPart
* @param dPart
*/
void setPidTunings(uint8_t side, double pPart, double iPart, double dPart);
/**
* @brief Set the pid tunings
*
* @param side 0 -> left, 1 -> right
* @param pPart
* @param iPart
* @param dPart
*/
void setPidTunings(uint8_t side, double pPart, double iPart, double dPart);
/**
* @brief Returns the PID object of the choosen side.
*
* @param side 0 -> left, 1 -> right
* @return PID*
*/
PID *getPID(uint8_t side) const;
/**
* @brief Returns the PID object of the choosen side.
*
* @param side 0 -> left, 1 -> right
* @return PID*
*/
PID* getPID(uint8_t side) const;
Speedometer *getSpeedometerLeft() const { return this->leftSpeedometer; }
Speedometer *getSpeedometerRight() const { return this->rightSpeedometer; }
Speedometer* getSpeedometerLeft() const { return this->leftSpeedometer; }
Speedometer* getSpeedometerRight() const { return this->rightSpeedometer; }
uint16_t getDutycycleLeft() const { return this->leftMotor->getDutycycle(); }
uint16_t getDutycycleRight() const { return this->rightMotor->getDutycycle(); }
uint16_t getDutycycleLeft() const { return this->leftMotor->getDutycycle(); }
uint16_t getDutycycleRight() const { return this->rightMotor->getDutycycle(); }
private:
void run() override;
static void setSpeedometerDirection(Speedometer *speedometer, double value);
void calcTargetWheelSpeed();
void regulateMotors();
void updateCurrentWheelSpeed();
private:
void run() override;
static void setSpeedometerDirection(Speedometer *speedometer, double value);
void calcTargetWheelSpeed();
void regulateMotors();
void updateCurrentWheelSpeed();
MotorControl *leftMotor;
MotorControl *rightMotor;
Speedometer *leftSpeedometer;
Speedometer *rightSpeedometer;
PID *leftPid;
PID *rightPid;
MotorControl *leftMotor;
MotorControl *rightMotor;
Speedometer *leftSpeedometer;
Speedometer *rightSpeedometer;
PID *leftPid;
PID *rightPid;
Status driving_status = Status::Stop;
DrivingSpeeds drivingSpeeds = {0, 0};
Status driving_status = Status::Stop;
DrivingSpeeds drivingSpeeds = {0, 0};
double wheelspeedLeftTarget = 0;
double wheelspeedRightTarget = 0;
double wheelspeedLeft = 0;
double wheelspeedRight = 0;
double leftPidOut = 0;
double rightPidOut = 0;
double wheelspeedLeftTarget = 0;
double wheelspeedRightTarget = 0;
double wheelspeedLeft = 0;
double wheelspeedRight = 0;
double leftPidOut = 0;
double rightPidOut = 0;
uint8_t overTimeCounter = 0;
uint8_t overTimeMax = 100;
int8_t rawPowerLeft = 0;
int8_t rawPowerRight = 0;
static constexpr int8_t maxPercentage = 100;
static constexpr float minSpeed = 0.2;
static constexpr uint8_t loopDelay = 20;
uint8_t overTimeCounter = 0;
uint8_t overTimeMax = 100;
int8_t rawPowerLeft = 0;
int8_t rawPowerRight = 0;
static constexpr int8_t maxPercentage = 100;
static constexpr float minSpeed = 0.2;
static constexpr uint8_t loopDelay = 20;
};
#endif // MOVE_CONTROL_H
include/networkConfig.h
+18 -13
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@@ -2,14 +2,14 @@
* @file networkConfig.h
* @author Alexander Klein (alex@kleiax.de)
* @brief Contains the settings for the Network class
*
*
* With different defines the location can be choosen.
*
*
* @version 0.1
* @date 2022-02-15
*
*
* @copyright Copyright (c) 2022
*
*
*/
#include <stdint.h>
@@ -17,7 +17,8 @@
#define HW1
#ifdef HOTSPOT
namespace NetworkConfig {
namespace NetworkConfig
{
const char ssid[] = "Kleiax Handy";
const char password[] = "12345677";
const char ip[] = "192.168.43.4";
@@ -26,10 +27,11 @@ namespace NetworkConfig {
const char dns[] = "8.8.8.8";
const bool mqtt = false;
}
#endif //HOTSPOT
#endif // HOTSPOT
#ifdef HW1
namespace NetworkConfig {
namespace NetworkConfig
{
const char ssid[] = "hw1_gast";
const char password[] = "KeineAhnung";
const char ip[] = "192.168.0.4";
@@ -38,11 +40,12 @@ namespace NetworkConfig {
const char dns[] = "8.8.8.8";
const bool mqtt = false;
}
#endif //HW1
#endif // HW1
//Network config Rhede
// Network config Rhede
#ifdef RHEDE
namespace NetworkConfig {
namespace NetworkConfig
{
const char ssid[] = "LebennigHuus";
const char password[] = "Punica-699";
const char ip[] = "192.168.11.4";
@@ -51,16 +54,18 @@ namespace NetworkConfig {
const char dns[] = "8.8.8.8";
const bool mqtt = true;
}
#endif //RHEDE
#endif // RHEDE
namespace MqttConfig {
namespace MqttConfig
{
const char server[] = "192.168.1.7";
const uint16_t port = 1883;
const char user[] = "kleiax";
const char password[] = "p?{$_~5%hBM7wrcFkr55KWr#";
}
namespace NtripConfig {
namespace NtripConfig
{
const char host[] = "rtk2go.com";
const uint16_t port = 2101;
// const char mountPoint[] = "GER-Dortmund";