new start to work on this

src/config.h

@@ -65,20 +65,22 @@
 // PS3 Controller
 // ESP32 MAC BL 24:62:AB:F2:4B:3A
 
-#define TPMOBIL
+#define RHEDE
 
-//Network config DORTMUND
+//Network config RHEDE
-#ifdef DORTMUND
+#ifdef RHEDE
-#define WLAN_SSID "Kleiax2"
+#define WLAN_SSID "LebennigHuus"
 #define WLAN_PASSWORD "Punica-699"
-#define WLAN_IP 0x0101a8c0          //192.168.1.1
+#define WLAN_IP 0x040BA8C0          //192.168.11.4
-#define WLAN_SUBNETMASK 0x0000FFFF  //255.255.0.0
+#define WLAN_SUBNETMASK 0x0080FFFF  //255.255.128.0
 #define WLAN_GATEWAY 0x0100a8c0     //192.168.0.1
-#define MQTT_SERVER 0x0201a8c0      //192.168.1.2
+#define MQTT_SERVER 0x0701A8C0      //192.168.1.7
 #define MQTT_PORT 1883
 #define MQTT_BUFFER_SITE 128
-#define NTP_SERVER 0x0201a8c0       //192.168.1.2
+#define MQTT_USER "kleiax"
-#endif //DORTMUND
+#define MQTT_PASSWORD "p?{$_~5%hBM7wrcFkr55KWr#"
+#define NTP_SERVER 0x0100a8c0       //192.168.0.1
+#endif //RHEDE
 
 //Network config FRENZY
 #ifdef FRENZY
@@ -93,26 +95,6 @@
 #define NTP_SERVER 0x0201a8c0       //192.168.1.2
 #endif //FRENZY 
 
-//Network config VOERDE
-#ifdef VOERDE
-// #define KELLER
-#ifndef KELLER
-    #define WLAN_SSID "Der Neue"
-    #define WLAN_PASSWORD "Punica-699"
-#endif // KELLLER
-#ifdef KELLER
-    #define WLAN_SSID "Keller-Wlan"
-    #define WLAN_PASSWORD "Punica-699"
-#endif // KELLER
-#define WLAN_IP 0x4db2a8c0          //192.168.178.77
-#define WLAN_SUBNETMASK 0x00FFFFFF  //255.255.255.0
-#define WLAN_GATEWAY 0x01b2a8c0     //192.168.178.1
-#define MQTT_SERVER 0x4eb2a8c0      //192.168.178.78
-#define MQTT_PORT 1883
-#define MQTT_BUFFER_SITE 128
-#define NTP_SERVER 0x01b2a8c0       //192.168.178.1
-#endif // VOERDE
-
 //Network config TPMOBIL
 #ifdef TPMOBIL
 #define WLAN_SSID "TP-Mobil"

src/driveModi/consolControl.cpp

@@ -7,34 +7,38 @@ ConsolControl::ConsolControl() {
 
 void ConsolControl::init(MoveControl *MoveControl) {
     this->moveControl = moveControl;
-    this->left_pid = this->moveControl->getPID(0);
-    this->right_pid = this->moveControl->getPID(1);
 }
 
 void ConsolControl::run() {
-    PID *selectedPID;
+    uint8_t side = -1;
 
     if (Serial.available()) {
         char cmd = Serial.read();
         if (cmd == 'l') {
-            selectedPID = this->left_pid;
+            side = 0;
         } else if (cmd == 'r') {
-            selectedPID = this->right_pid;
+            side = 1;
         }
 
         double p = Serial.parseFloat();
         double i = Serial.parseFloat();
         double d = Serial.parseFloat();
+        double s = Serial.parseFloat();
+        double r = Serial.parseFloat();
 
-        if (p && i && d) {
+        if (p && i && d && s && r) {
             Serial.println("ConsolControl changeDate");
-            selectedPID->SetTunings(p, i, d);
+            this->moveControl->setPidTunings(side, p, i, d);
+            this->moveControl->setSpeed(s);
+            this->moveControl->setRotationspeed(r);
         } else {
+            this->moveControl->setDrivingStatus(DrivingStatus::stop);
             printManual();
+            debug->sendMsg(Loglevel::error, "not all double are not zero");
         }
     }
 }
 
-void printManual() {
+void ConsolControl::printManual() {
-    Serial.println("r 12.0 13.0 4.0 // site p i d");
+    Serial.println("r 12.0 13.0 4.0 // site p i d s r");
 }

src/driveModi/consolControl.h

@@ -15,9 +15,6 @@ class ConsolControl {
 
         MoveControl *moveControl;
         DebugMqtt *debug;
-        PID *left_pid;
-        PID *right_pid;
-
 
 };
 

src/hardware/motorControl.cpp

@@ -10,7 +10,6 @@ MotorControl::MotorControl() {
 
 void MotorControl::init(uint8_t pwm_pin, uint8_t pwm_channel, uint8_t direction_pin_1, uint8_t direction_pin_2, String name) {
     debug->sendMsg(Loglevel::info, "Init...");
-
     this->name = name;
 
     this->pwm_pin = pwm_pin;

src/main.cpp

@@ -144,7 +144,7 @@ void reconnectMqtt() {
         String clientId = "ESP32Rover-";
         clientId += String(random(0xffff), HEX);
         // Attempt to connect
-        if (mqtt_client.connect(clientId.c_str())) {
+        if (mqtt_client.connect(clientId.c_str(), MQTT_USER, MQTT_PASSWORD)) {
             Serial.println("connected");
             // Once connected, publish an announcement...
             mqtt_client.publish("Rover/Info", "Connected to Mqtt-Broker");

src/moveControl.cpp

@@ -48,11 +48,11 @@ void MoveControl::runMoveControl() {
     this->calcWheelSpeed();
     this->regulateMotors();
 
-    // char str[128];
+    char str[128];
-    // sprintf(str, "x_speed: %3.2f, rotation_speed: %3.2f, tar_left: %3.2f, tar_right: %3.2f",
+    sprintf(str, "x_speed: %3.2f, rotation_speed: %3.2f, left: %3.2f, right: %3.2f",
-    //     this->x_speed, this->rotation_speed, this->wheelspeed_left_target,
+        this->x_speed, this->rotation_speed, this->wheelspeed_left,
-    //     this->wheelspeed_right_target);
+        this->wheelspeed_right);
-    // debug->sendMsg(Loglevel::debug, str);
+    debug->sendMsg(Loglevel::debug, str);
 }
 
 void MoveControl::setDrivingStatus(DrivingStatus status) {
@@ -68,14 +68,15 @@ void MoveControl::setRotationspeed(double speed) {
     this->rotation_speed = speed;
 }
 
-PID* MoveControl::getPID(uint8_t i) {
+void MoveControl::setPidTunings(uint8_t side, double p, double i, double d) {
-    if (i == 0) {
+    PID* selectedPID = nullptr;
-        return this->left_pid;
+    if (side == 0)
-    } else if (i == 1) {
+        selectedPID = this->left_pid;
-        return this->right_pid;
+    else if (side == 1)
-    } else {
+        selectedPID = this->right_pid;
-        return nullptr;
+
-    }
+    selectedPID->SetTunings(p, i, d);
+    
 }
 
 void MoveControl::calcWheelSpeed() {
@@ -95,7 +96,6 @@ void MoveControl::calcWheelSpeed() {
 }
 
 void MoveControl::regulateMotors() {
-    double ratio = 0;
     switch (this->driving_status) {
     case DrivingStatus::stop :
         this->left_motor->setTargetPower(0);

src/moveControl.h

@@ -22,8 +22,7 @@ class MoveControl {
         void setDrivingStatus(DrivingStatus status);
         void setSpeed(double speed);
         void setRotationspeed(double speed);
-        
+        void setPidTunings(uint8_t side, double p, double i, double d);
-        PID* getPID(uint8_t i);
 
     private:
         void calcWheelSpeed();