kleiax/Bachelorarbeit-Rover
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kleiax
2021-11-08 11:23:51 +01:00
parent 028b82e81a
commit fc5850303a
7 changed files with 40 additions and 59 deletions
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src/config.h
+11 -29
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@@ -65,20 +65,22 @@
// PS3 Controller
// ESP32 MAC BL 24:62:AB:F2:4B:3A
#define TPMOBIL
#define RHEDE
//Network config DORTMUND
#ifdef DORTMUND
#define WLAN_SSID "Kleiax2"
//Network config RHEDE
#ifdef RHEDE
#define WLAN_SSID "LebennigHuus"
#define WLAN_PASSWORD "Punica-699"
#define WLAN_IP 0x0101a8c0 //192.168.1.1
#define WLAN_SUBNETMASK 0x0000FFFF //255.255.0.0
#define WLAN_IP 0x040BA8C0 //192.168.11.4
#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
#endif //DORTMUND
#define MQTT_USER "kleiax"
#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
+13 -9
View File
@@ -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() {
Serial.println("r 12.0 13.0 4.0 // site p i d");
void ConsolControl::printManual() {
Serial.println("r 12.0 13.0 4.0 // site p i d s r");
}
src/driveModi/consolControl.h
-3
View File
@@ -15,9 +15,6 @@ class ConsolControl {
MoveControl *moveControl;
DebugMqtt *debug;
PID *left_pid;
PID *right_pid;
};
src/hardware/motorControl.cpp
-1
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@@ -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
+1 -1
View File
@@ -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
+14 -14
View File
@@ -48,11 +48,11 @@ void MoveControl::runMoveControl() {
this->calcWheelSpeed();
this->regulateMotors();
// char str[128];
// sprintf(str, "x_speed: %3.2f, rotation_speed: %3.2f, tar_left: %3.2f, tar_right: %3.2f",
// this->x_speed, this->rotation_speed, this->wheelspeed_left_target,
// this->wheelspeed_right_target);
// debug->sendMsg(Loglevel::debug, str);
char str[128];
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,
this->wheelspeed_right);
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) {
if (i == 0) {
return this->left_pid;
} else if (i == 1) {
return this->right_pid;
} else {
return nullptr;
}
void MoveControl::setPidTunings(uint8_t side, double p, double i, double d) {
PID* selectedPID = nullptr;
if (side == 0)
selectedPID = this->left_pid;
else if (side == 1)
selectedPID = this->right_pid;
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
+1 -2
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@@ -22,8 +22,7 @@ class MoveControl {
void setDrivingStatus(DrivingStatus status);
void setSpeed(double speed);
void setRotationspeed(double speed);
PID* getPID(uint8_t i);
void setPidTunings(uint8_t side, double p, double i, double d);
private:
void calcWheelSpeed();