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kleiax
2023-10-12 20:35:31 +02:00
parent f78804d836 451517e7cd
commit e511afb2a5
80 changed files with 5031 additions and 3385 deletions
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src/driveModi/Modi/CalibrateCompass/calibrateCompassM.cpp
+10 -8
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@@ -1,23 +1,25 @@
/**
* @file calibrateCompassM.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief
* @version 0.1
* @date 2023-09-03
*
*
* @copyright Copyright (c) 2023
*
*
*/
#include "calibrateCompassM.h"
CalibrateCompassM::CalibrateCompassM(DriveModiParams params) : ManualControl(params) {}
void CalibrateCompassM::setCalibrateCompass(CalibrateCompass *caliCompass) {
if (caliCompass) {
void CalibrateCompassM::setCalibrateCompass(CalibrateCompass *caliCompass)
{
if (static_cast<bool>(caliCompass))
{
this->caliCompass = caliCompass;
this->addChildComponent(this->caliCompass);
} else if (this->caliCompass) {
}
else if (static_cast<bool>(this->caliCompass))
{
this->removeChildComponent(this->caliCompass);
this->caliCompass = caliCompass;
}
src/driveModi/Modi/CalibrateCompass/calibrateCompassM.h
+18 -11
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@@ -1,12 +1,12 @@
/**
* @file calibrateCompassM.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains a Menu class to calibrate the compass
* @version 0.1
* @date 2023-09-03
*
*
* @copyright Copyright (c) 2023
*
*
*/
#ifndef CALIBRATE_COMPASS_M_H
@@ -16,14 +16,21 @@
#include "driveModi/Modi/ManualControl/manualControl.h"
class CalibrateCompassM : public ManualControl {
public:
CalibrateCompassM(DriveModiParams params);
/**
* @brief A Menu class to interact with CalibrateCompass class
*/
class CalibrateCompassM : public ManualControl
{
public:
/**
* @brief Set the CalibrateCompass object
*
* @param caliCompass
*/
void setCalibrateCompass(CalibrateCompass *caliCompass = nullptr);
void setCalibrateCompass(CalibrateCompass* caliCompass = nullptr);
private:
CalibrateCompass* caliCompass = nullptr;
private:
CalibrateCompass *caliCompass = nullptr;
};
#endif //CALIBRATE_COMPASS_M_H
#endif // CALIBRATE_COMPASS_M_H
src/driveModi/Modi/ManualControl/manualControl.cpp
+59 -43
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@@ -4,73 +4,89 @@
* @brief Implementation of the class manualControl.h
* @version 0.1
* @date 2021-12-13
*
*
* @copyright Copyright (c) 2021
*
*
*/
#include "manualControl.h"
void ManualControl::run() {
switch (this->inputMode) {
case InputMode::Analog :
this->analogControl();
break;
void ManualControl::run()
{
switch (this->inputMode)
{
case InputMode::Analog:
this->analogControl();
break;
case InputMode::Digital :
this->digitalControl();
break;
default:
break;
case InputMode::Digital:
this->digitalControl();
break;
default:
break;
}
}
void ManualControl::switchInputMode() {
void ManualControl::switchInputMode()
{
this->inputMode = (this->inputMode == InputMode::Analog) ? InputMode::Digital : InputMode::Analog;
}
void ManualControl::analogControl() {
void ManualControl::analogControl()
{
// Have to be int16_t to avoid overflow (int8_t = 255 - 127 = -128)
int16_t x = this->input->x - 127;
int16_t y = this-> input->y - 127;
const int16_t xAxis = this->input->x - 127;
const int16_t yAxis = this->input->y - 127;
// static int counter = 0;
// if (counter % 60 == 0) {
// std::cout << "Input: x: " << (int) this->input->x << " y: " << (int) this->input->y << std::endl;
// std::cout << "Output: x: " << (int) x << " y: " << (int) y << std::endl;
// }
// counter++;
double value_per_step = this->maxSpeeds.x * 2 / UINT8_MAX;
this->moveControl->setSpeed(-xAxis * value_per_step);
double value_per_step = this->maxForwardSpeed * 2 / UINT8_MAX;
this->moveControl->setSpeed(-x * value_per_step);
value_per_step = this->maxRotationSpeed * 2 / UINT8_MAX;
this->moveControl->setRotationSpeed(y * value_per_step);
value_per_step = this->maxSpeeds.rot * 2 / UINT8_MAX;
this->moveControl->setRotationSpeed(yAxis * value_per_step);
}
void ManualControl::digitalControl() {
int16_t y = this->input->x - 127;
int16_t x = this->input->y - 127;
void ManualControl::digitalControl()
{
static constexpr uint8_t deadzone = 120;
const int16_t yAxis = this->input->x - 127;
const int16_t xAxis = this->input->y - 127;
if (y > 120)
this->moveControl->setSpeed(-this->maxForwardSpeed);
else if (y < -120)
this->moveControl->setSpeed(this->maxForwardSpeed);
if (yAxis > deadzone)
{
this->moveControl->setSpeed(-this->maxSpeeds.x);
}
else if (yAxis < -deadzone)
{
this->moveControl->setSpeed(this->maxSpeeds.rot);
}
else
{
this->moveControl->setSpeed(0);
}
if (x > 120)
this->moveControl->setRotationSpeed(this->maxRotationSpeed);
else if (x < -120)
this->moveControl->setRotationSpeed(-this->maxRotationSpeed);
if (xAxis > deadzone)
{
this->moveControl->setRotationSpeed(this->maxSpeeds.rot);
}
else if (xAxis < -deadzone)
{
this->moveControl->setRotationSpeed(-this->maxSpeeds.rot);
}
else
{
this->moveControl->setRotationSpeed(0);
}
if (this->directionChangeWrapper && (x > 120 || x < -120))
if (static_cast<bool>(this->directionChangeWrapper) && (xAxis > deadzone || xAxis < -deadzone))
{
this->lastLoopTurned = true;
else if (this->lastLoopTurned) {
if (this->directionChangeWrapper)
}
else if (this->lastLoopTurned)
{
if (static_cast<bool>(this->directionChangeWrapper))
{
this->directionChangeWrapper->action();
}
this->lastLoopTurned = false;
}
}
}
src/driveModi/Modi/ManualControl/manualControl.h
+44 -29
View File
@@ -4,55 +4,70 @@
* @brief A small class to drive the Rover by the controller joystick.
* @version 0.1
* @date 2021-12-13
*
*
* @copyright Copyright (c) 2021
*
*
*/
#ifndef MANUAL_CONTROL_H
#define MANUAL_CONTROL_H
#include "driveModi/driveModi.h"
class DirectionChangeWrapper {
public:
virtual void action() = 0;
class DirectionChangeWrapper
{
public:
virtual void action() = 0;
};
/**
* @brief Drive the Rover with a Joystick
*
* This class gets the x and y value from the PS3 controller
*
* This class gets the x and y value from the ControlPad
* and map the values to moveControl
*
*
* @see MoveControl
*/
class ManualControl : public DriveModi {
public:
enum class InputMode : uint8_t {
Analog,
Digital
};
class ManualControl : public DriveModi
{
public:
/**
* @brief The enum is used to change the interpretation of the joystick data
*/
enum class InputMode : uint8_t
{
Analog,
Digital
};
ManualControl(DriveModiParams params) : DriveModi(params){};
/**
* @brief Change the InputMode to the opposite
*/
void switchInputMode();
void setInputMode(InputMode mode) { this->inputMode = mode; }
InputMode getInputMode() const { return this->inputMode; }
void switchInputMode();
void setInputMode(InputMode mode) { this->inputMode = mode; }
InputMode getInputMode() const { return this->inputMode; }
void setDirectionChangeCallback(DirectionChangeWrapper* callback) { this->directionChangeWrapper = callback; }
/**
* @brief Set the DirectionChangeWrapper object
*
* This callback is used to inform the CalcAzimuth Component about a direction change
*
* @param callback
*/
void setDirectionChangeCallback(DirectionChangeWrapper *callback) { this->directionChangeWrapper = callback; }
uint16_t getDutycycleLeft() const { return this->moveControl->getDutycycleLeft(); }
uint16_t getDutycycleRight() const { return this->moveControl->getDutycycleRight(); }
uint16_t getDutycycleLeft() const { return this->moveControl->getDutycycleLeft(); }
uint16_t getDutycycleRight() const { return this->moveControl->getDutycycleRight(); }
protected:
void run() override;
protected:
void run() override;
private:
void analogControl();
void digitalControl();
private:
void analogControl();
void digitalControl();
bool lastLoopTurned = false;
DirectionChangeWrapper* directionChangeWrapper = nullptr;
InputMode inputMode = InputMode::Analog;
bool lastLoopTurned = false;
DirectionChangeWrapper *directionChangeWrapper = nullptr;
InputMode inputMode = InputMode::Analog;
};
#endif // MANUAL_CONTROL_H
src/driveModi/Modi/TestMode/testMode.cpp
+84 -49
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@@ -4,27 +4,25 @@
* @brief Contains the implementation of the class TestMode.
* @version 0.1
* @date 2022-09-08
*
*
* @copyright Copyright (c) 2022
*
*
*/
#include "testMode.h"
TestMode::TestMode(DriveModiParams params)
: DriveModi(params) {}
TestMode::~TestMode() {
this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
}
void TestMode::run() {
if (this->maneuver == Maneuver::Turn) {
void TestMode::run()
{
if (this->maneuver == Maneuver::Turn)
{
uint16_t delta = abs(this->azimuth - this->getSensorData()->getRealAzimuth());
if (delta > this->degree)
{
this->abort = true;
}
}
if (millis() - this->actionStart > this->maneuverTime || this->abort) {
if (this->busy && millis() - this->actionStart > this->maneuverTime || this->abort)
{
this->busy = false;
this->abort = false;
this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
@@ -32,71 +30,95 @@ void TestMode::run() {
}
}
bool TestMode::drive(int16_t cm, int16_t degree) {
bool TestMode::drive(int16_t cmDistance, int16_t degree)
{
if (this->busy)
{
return false;
}
this->actionStart = millis();
this->moveControl->setDrivingStatus(MoveControl::Status::Drive);
if (cm == 0) {
//Only left or right
if (cmDistance == 0)
{
// Only left or right
this->moveControl->setSpeed(0);
if (degree < 0)
this->moveControl->setRotationSpeed(-this->maxRotationSpeed);
{
this->moveControl->setRotationSpeed(-this->maxSpeeds.rot);
}
else if (degree > 0)
this->moveControl->setRotationSpeed(this->maxRotationSpeed);
{
this->moveControl->setRotationSpeed(this->maxSpeeds.rot);
}
this->azimuth = this->getSensorData()->getRealAzimuth();
this->degree = degree;
this->maneuverTime = 5 * 1000;
this->busy = true;
return true;
} else if (degree == 0) {
//Only forward or backward
}
if (degree == 0)
{
// Only forward or backward
this->moveControl->setRotationSpeed(0);
if (cm < 0)
this->moveControl->setSpeed(-this->maxForwardSpeed);
else if (cm > 0)
this->moveControl->setSpeed(this->maxForwardSpeed);
this->maneuverTime = (uint32_t) (((double) abs(cm) / 100.0) / this->maxForwardSpeed) * 1000;
if (cmDistance < 0)
{
this->moveControl->setSpeed(-this->maxSpeeds.x);
}
else if (cmDistance > 0)
{
this->moveControl->setSpeed(this->maxSpeeds.x);
}
this->maneuverTime = static_cast<uint32_t>(((abs(cmDistance) / 100.0) / this->maxSpeeds.x) * 1000);
this->busy = true;
this->maneuver = Maneuver::Drive;
return true;
} else {
//forward or backward and left or right
// TODO: Calculate roationspeed
if (cm < 0)
this->moveControl->setSpeed(-this->maxForwardSpeed);
else if (cm > 0)
this->moveControl->setSpeed(this->maxForwardSpeed);
this->maneuverTime = (uint32_t) (((double) cm / 100.0) / this->maxForwardSpeed) * 1000;
}
else
{
// forward or backward and left or right
// TODO: Calculate roationspeed
if (cmDistance < 0)
{
this->moveControl->setSpeed(-this->maxSpeeds.x);
}
else if (cmDistance > 0)
{
this->moveControl->setSpeed(this->maxSpeeds.x);
}
this->maneuverTime = static_cast<uint32_t>(((cmDistance / 100.0) / this->maxSpeeds.x) * 1000);
this->busy = true;
this->maneuver = Maneuver::Drive;
return true;
}
this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
this->moveControl->setDrivingStatus(MoveControl::Status::Stop);
return false;
}
bool TestMode::leftEngine(int16_t powerPercentage, int16_t seconds) {
if (this->engineInit(powerPercentage, seconds)) {
bool TestMode::leftEngine(int16_t powerPercentage, int16_t seconds)
{
if (this->engineInit(powerPercentage, seconds))
{
this->moveControl->setRawPowerLeft(powerPercentage);
this->maneuver = Maneuver::LeftEngine;
std::cout << "TestMode::leftEngine" << std::endl;
return true;
}
return false;
}
bool TestMode::rightEngine(int16_t powerPercentage, int16_t seconds) {
if (this->engineInit(powerPercentage, seconds)) {
bool TestMode::rightEngine(int16_t powerPercentage, int16_t seconds)
{
if (this->engineInit(powerPercentage, seconds))
{
this->moveControl->setRawPowerRight(powerPercentage);
this->maneuver = Maneuver::RightEngine;
return true;
@@ -104,8 +126,10 @@ bool TestMode::rightEngine(int16_t powerPercentage, int16_t seconds) {
return false;
}
bool TestMode::bothEngine(int16_t powerPercentage, int16_t seconds) {
if (this->engineInit(powerPercentage, seconds)) {
bool TestMode::bothEngine(int16_t powerPercentage, int16_t seconds)
{
if (this->engineInit(powerPercentage, seconds))
{
this->moveControl->setRawPowerLeft(powerPercentage);
this->moveControl->setRawPowerRight(powerPercentage);
this->maneuver = Maneuver::BothEngine;
@@ -114,23 +138,34 @@ bool TestMode::bothEngine(int16_t powerPercentage, int16_t seconds) {
return false;
}
void TestMode::abortManeuver() {
void TestMode::abortManeuver()
{
this->abort = true;
}
uint8_t TestMode::getRemainingManeuverTime() const {
if (busy)
return (uint8_t) ((this->maneuverTime - (millis() - this->actionStart)) / 1000);
uint8_t TestMode::getRemainingManeuverTime() const
{
if (this->busy)
{
return static_cast<uint8_t>((this->maneuverTime - (millis() - this->actionStart)) / 1000);
}
return 0;
}
bool TestMode::engineInit(int16_t powerPercentage, int16_t seconds) {
bool TestMode::engineInit(int16_t powerPercentage, int16_t seconds)
{
if (this->busy)
{
return false;
if (powerPercentage >= 100 || powerPercentage <= -100)
}
if (powerPercentage > TestMode::maxPercentage || powerPercentage < -TestMode::maxPercentage)
{
return false;
}
if (seconds < 0)
{
return false;
}
this->actionStart = millis();
this->moveControl->setDrivingStatus(MoveControl::Status::Raw);
src/driveModi/Modi/TestMode/testMode.h
+90 -87
View File
@@ -4,11 +4,11 @@
* @brief Contains a class to test different functions from the rover.
* @version 0.1
* @date 2022-09-08
*
*
* @copyright Copyright (c) 2022
*
*
*/
#ifndef TEST_MODE_H
#ifndef TEST_MODE_H
#define TEST_MODE_H
#include <iostream>
@@ -16,105 +16,108 @@
#include "moveControl.h"
#include "driveModi/driveModi.h"
/**
* @brief Test different functions from the rover.
*
*
* You can test engine, engine controller, light and speed meter.
*/
class TestMode : public DriveModi {
public:
/**
* @brief Different states to test the engine
*
*/
enum Maneuver {
None,
LeftEngine,
RightEngine,
BothEngine,
Turn,
Drive
};
class TestMode : public DriveModi
{
public:
/**
* @brief Different states to test the engine
*/
enum Maneuver
{
None,
LeftEngine,
RightEngine,
BothEngine,
Turn,
Drive
};
/**
* @brief Construct a new Test Mode object
*
* @param moveControl
*/
TestMode(DriveModiParams params);
~TestMode();
/**
* @brief Let the rover drive
*
* @param cmDistance to drive
* @param degree degree to rotate over the hole distance
* @return true
* @return false
*/
bool drive(int16_t cmDistance = 0, int16_t degree = 0);
bool drive(int16_t cm = 0, int16_t degree = 0);
/**
* @brief Sets the left Engine to a specific power value.
*
* This start a maneuver with the given time.
*
* @param powerPercentage from 0% to 100%
* @param seconds time to run the engine
* @return true success
* @return false failure
*/
bool leftEngine(int16_t powerPercentage, int16_t seconds);
/**
* @brief Sets the left Engine to a specific power value.
*
* This start a maneuver with the given time.
*
* @param powerPercentage from 0% to 100%
* @param seconds time to run the engine
* @return true success
* @return false failure
*/
bool leftEngine(int16_t powerPercentage, int16_t seconds);
/**
* @brief See leftEngine
*
* @param powerPercentage
* @param seconds
* @return true
* @return false
*/
bool rightEngine(int16_t powerPercentage, int16_t seconds);
/**
* @brief See leftEngine
*
* @param powerPercentage
* @param seconds
* @return true
* @return false
*/
bool rightEngine(int16_t powerPercentage, int16_t seconds);
/**
* @brief See leftEngine
*
* @param powerPercentage
* @param seconds
* @return true
* @return false
*/
bool bothEngine(int16_t powerPercentage, int16_t seconds);
/**
* @brief See leftEngine
*
* @param powerPercentage
* @param seconds
* @return true
* @return false
*/
bool bothEngine(int16_t powerPercentage, int16_t seconds);
/**
* @brief Abort the running maneuver.
*
* Stops all movement. This is the only possibility to cancel a maneuver
* before the time is up.
*/
void abortManeuver();
/**
* @brief Abort the running maneuver.
*
* Stops all movement. This is the only possibility to cancel a maneuver
* before the time is up.
*/
void abortManeuver();
uint8_t getRemainingManeuverTime() const;
uint8_t getRemainingManeuverTime() const;
/**
* @brief Returns true if a maneuver is running
*
* @return true
* @return false
*/
bool getBusy() const { return this->busy; }
/**
* @brief Returns true if a maneuver is running
*
* @return true
* @return false
*/
bool getBusy() const { return this->busy; }
Maneuver getManeuver() const { return this->maneuver; }
Speedometer* getSpeedometerLeft() const { return this->moveControl->getSpeedometerLeft(); }
Speedometer* getSpeedometerRight() const { return this->moveControl->getSpeedometerRight(); }
Maneuver getManeuver() const { return this->maneuver; }
Speedometer *getSpeedometerLeft() const { return this->moveControl->getSpeedometerLeft(); }
Speedometer *getSpeedometerRight() const { return this->moveControl->getSpeedometerRight(); }
private:
void run() override;
bool engineInit(int16_t powerPercentage, int16_t seconds);
private:
void run() override;
bool engineInit(int16_t powerPercentage, int16_t seconds);
Maneuver maneuver = Maneuver::None;
int16_t maneuverValueOne = 0;
int16_t maneuverValueTwo = 0;
Maneuver maneuver = Maneuver::None;
int16_t maneuverValueOne = 0;
int16_t maneuverValueTwo = 0;
bool busy = false;
bool abort = false;
uint16_t azimuth;
int16_t degree;
uint32_t maneuverTime = 0;
uint32_t actionStart = 0;
bool busy = false;
bool abort = false;
uint16_t azimuth;
int16_t degree;
uint32_t maneuverTime = 0;
uint32_t actionStart = 0;
static constexpr int8_t maxPercentage = 100;
};
#endif // TEST_MODE_H