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Implement speedometer and encoder

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kleiax
2021-04-01 14:37:47 +02:00
parent e798f0904c
commit fd44f84738
10 changed files with 196 additions and 63 deletions
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src/moveControl.cpp
+10 -40
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@@ -6,52 +6,22 @@ MoveControl::MoveControl() {
}
void MoveControl::init(MotorControl *left_motor, MotorControl *right_motor) {
void MoveControl::init(MotorControl *left_motor, MotorControl *right_motor,
Speedometer *left_speedometer, Speedometer *right_speedometer) {
this->left_motor = left_motor;
this->right_motor = right_motor;
this->left_speedometer = left_speedometer;
this->right_speedometer = right_speedometer;
}
void MoveControl::rotate(int16_t degree) {
this->left_motor->setTargetSpeed(0);
this->right_motor->setTargetSpeed(0);
while ( !(left_motor->isTargetSpeedReached() && right_motor->isTargetSpeedReached()) ) {
delay(5);
}
uint8_t left = 0;
uint8_t right = 0;
if (degree < 0) {
left = -this->speed;
right = this->speed;
} else if (degree > 0) {
left = this->speed;
right = -this->speed;
}
this->left_motor->setTargetSpeed(this->speed);
this->right_motor->setTargetSpeed(this->speed);
delay(abs(degree));
this->left_motor->setTargetSpeed(0);
this->right_motor->setTargetSpeed(0);
}
void MoveControl::rotate(int16_t degree, uint8_t radius) {
void MoveControl::runMoveControl() {
}
void MoveControl::forward() {
this->left_motor->setTargetSpeed(this->speed);
this->right_motor->setTargetSpeed(this->speed);
}
void MoveControl::backward() {
this->left_motor->setTargetSpeed(-this->speed);
this->right_motor->setTargetSpeed(-this->speed);
}
void MoveControl::setSpeed(uint8_t speed) {
void MoveControl::setSpeed(int8_t speed) {
this->speed = speed;
}
void MoveControl::setRotationspeed(double speed) {
this->rotation_speed = speed;
}