kleiax/Bachelorarbeit-Rover
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ein bisschen doku

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kleiax
2021-11-23 18:51:52 +01:00
parent 2c1c31f42b
commit f086bfa6b3
6 changed files with 85 additions and 55 deletions
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.vscode/settings.json
Vendored
+58 -1
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@@ -2,5 +2,62 @@
"cSpell.ignoreWords": [
"ledc",
"write"
]
],
"todohighlight.isEnable": true,
"todohighlight.isCaseSensitive": true,
"todohighlight.keywords": [
"DEBUG:",
"REVIEW:",
{
"text": "NOTE:",
"color": "#ff0000",
"backgroundColor": "yellow",
"overviewRulerColor": "grey"
},
{
"text": "HACK:",
"color": "#000",
"isWholeLine": false,
},
{
"text": "TODO:",
"color": "red",
"border": "1px solid red",
"borderRadius": "2px", //NOTE: using borderRadius along with `border` or you will see nothing change
"backgroundColor": "rgba(0,0,0,.2)",
//other styling properties goes here ...
}
],
"todohighlight.keywordsPattern": "TODO:|FIXME:|\\(([^)]+)\\)", //highlight `TODO:`,`FIXME:` or content between parentheses
"todohighlight.defaultStyle": {
"color": "red",
"backgroundColor": "#ffab00",
"overviewRulerColor": "#ffab00",
"cursor": "pointer",
"border": "1px solid #eee",
"borderRadius": "2px",
"isWholeLine": true,
//other styling properties goes here ...
},
"todohighlight.include": [
"**/*.h",
"**/*.cpp",
"**/*.c",
"**/*.txt"
],
"todohighlight.exclude": [
"**/node_modules/**",
"**/bower_components/**",
"**/dist/**",
"**/build/**",
"**/.vscode/**",
"**/.github/**",
"**/_output/**",
"**/*.min.*",
"**/*.map",
"**/.next/**"
],
"todohighlight.maxFilesForSearch": 5120,
"todohighlight.toggleURI": false
}
doc/classdiagramm.uxf
+5 -52
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@@ -1,15 +1,4 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<diagram program="umlet" version="14.3.0">
<zoom_level>10</zoom_level>
<element>
<id>UMLClass</id>
<coordinates>
<x>460</x>
<y>60</y>
<w>220</w>
<h>510</h>
</coordinates>
<panel_attributes>&lt;&lt;hardware&gt;&gt;
<diagram program="umletino" version="14.4.0-SNAPSHOT"><zoom_level>10</zoom_level><element><id>UMLClass</id><coordinates><x>350</x><y>0</y><w>220</w><h>510</h></coordinates><panel_attributes>&lt;&lt;hardware&gt;&gt;
MotorControl
--
- name: String
@@ -40,18 +29,7 @@ MotorControl
+ isAccelerationPositive(): bool
+ isAccelerationNegative(): bool
- setRealPower(power: int8_t)
- increasePower(power: int8_t)</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLClass</id>
<coordinates>
<x>80</x>
<y>480</y>
<w>220</w>
<h>330</h>
</coordinates>
<panel_attributes>&lt;&lt;hardware&gt;&gt;
- increasePower(power: int8_t)</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>80</x><y>380</y><w>220</w><h>330</h></coordinates><panel_attributes>&lt;&lt;hardware&gt;&gt;
Speedometer
--
- encoder: ESP32Encoder
@@ -71,18 +49,7 @@ Speedometer
+ getSpeed(): double
+ getDirection(): uint8_t
- addValToBuf(val: int16_t)
- getAverage(): int16_t</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLClass</id>
<coordinates>
<x>70</x>
<y>60</y>
<w>270</w>
<h>370</h>
</coordinates>
<panel_attributes>MoveControl
- getAverage(): int16_t</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>70</x><y>0</y><w>270</w><h>370</h></coordinates><panel_attributes>MoveControl
--
- debug: DebugMqtt*
- left_motor: MotorControl*
@@ -105,18 +72,7 @@ Speedometer
+ setSpeed(speed: double)
+ setRotationspeed(speed: double)
- calcWheelSpeed()
- regulateMotors()</panel_attributes>
<additional_attributes/>
</element>
<element>
<id>UMLClass</id>
<coordinates>
<x>700</x>
<y>60</y>
<w>220</w>
<h>330</h>
</coordinates>
<panel_attributes>&lt;&lt;driveModi&gt;&gt;
- regulateMotors()</panel_attributes><additional_attributes></additional_attributes></element><element><id>UMLClass</id><coordinates><x>580</x><y>0</y><w>220</w><h>330</h></coordinates><panel_attributes>&lt;&lt;driveModi&gt;&gt;
ManualControl
--
- encoder: ESP32Encoder
@@ -136,7 +92,4 @@ ManualControl
+ getSpeed(): double
+ getDirection(): uint8_t
- addValToBuf(val: int16_t)
- getAverage(): int16_t</panel_attributes>
<additional_attributes/>
</element>
</diagram>
- getAverage(): int16_t</panel_attributes><additional_attributes></additional_attributes></element></diagram>
doc/controller.txt
+17
View File
@@ -0,0 +1,17 @@
Controller
PS3-Button: Change Mode
Mode: ManualControl
L3: Joystick Mode
Left Joystick: Drive
R3: Shoulder Trigger Mode
L2: Spin left side
R2: Spin right side
Mode: Autopilot
Mode: CaptureRoute
Mode: ConsolControl
src/config.h
+2 -1
View File
@@ -1,5 +1,6 @@
// The front is where the boards are
//Pin config
//Left
#define M_DIR_11 27
@@ -91,7 +92,7 @@
#define WLAN_IP 0x3400a8c0 //192.168.0.67
#define WLAN_SUBNETMASK 0x00FFFFFF //255.255.255.0
#define WLAN_GATEWAY 0x0100a8c0 //192.168.0.1
#define MQTT_SERVER "dz-pi.hw1.fb4.fh"
#define MQTT_SERVER 0xD84016AC // 172.22.64.216
#define MQTT_PORT 1883
#define MQTT_BUFFER_SITE 128
#define NTP_SERVER "2.de.pool.ntp.org"
src/driveModi/consolControl.cpp
+1 -1
View File
@@ -40,5 +40,5 @@ void ConsolControl::run() {
}
void ConsolControl::printManual() {
Serial.println("r 12.0 13.0 4.0 // site p i d s r");
Serial.println("r 12.0 13.0 4.0 1.0 1.0 // site p i d s r");
}
src/main.cpp
+2
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@@ -16,6 +16,8 @@
#include "route.h"
#include "debugMqtt.h"
//TODO: Mal vernünftig Programmieren lernen.
void callbackControllerAction();
void callbackControllerConnect();
void controllerPrintBattery();