95 lines
3.0 KiB
Plaintext
95 lines
3.0 KiB
Plaintext
<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><<hardware>>
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MotorControl
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--
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- name: String
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- debug: DebugMqtt*
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- target_power: int8_t = 0
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- power: int8_t = 0
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- direction: uint8_t = 0
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- last_millis: uint64_t = 0;
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- pwm_pin: uint8_t
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- pwm_channel: uint8_t
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- direction_pin_1: uint8_t
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- direction_pin_2: uint8_t
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--
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+ MotorControl()
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+ init(pwm_pin: uint8_t,
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pwm_channel: uint8_t,
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direction_1: uint8_t,
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direction_2: uint8_t,
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name: String)
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+ runMotorControl()
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+ setTargetPower(power: int8_t)
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+ stop()
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+ emergencyStop()
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+ toString()
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+ getPower(): int8_t
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+ getTargetPower(): int8_t
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+ isTargetPowerReached(): bool
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+ isAccelerationPositive(): bool
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+ isAccelerationNegative(): bool
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- setRealPower(power: int8_t)
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- 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><<hardware>>
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Speedometer
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--
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- encoder: ESP32Encoder
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- debug: DebugMqtt*
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- name: String
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- speed: double = 0
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- last_millis: uint64_t = 0;
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- bufPos: uint8_t
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- buf: int16_t[BUF_SIZE]
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--
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+ Speedometer()
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+ init(pinA: uint8_t,
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pinB: uint8_t,
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name: String)
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+ runSpeedometer()
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+ setTargetPower(power: int8_t)
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+ getSpeed(): double
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+ getDirection(): uint8_t
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- addValToBuf(val: int16_t)
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- 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
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--
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- debug: DebugMqtt*
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- left_motor: MotorControl*
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- right_motor: MotorControl*
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- left_speedometer: Speedometer*
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- right_speedometer: Speedometer*
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- driving_status: DrivingStatus = stop
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- x_speed: double = 0
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- rotation_speed: double = 0
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- wheelspeed_left_target: double = 0
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- wheelspeed_right_target: double = 0
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--
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+ MoveControl()
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+ init(left_motor: MotorControl*,
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right_motor: MotorControl*,
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left_speedometer: Speedometer*,
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right_speedometer: Speedometer*)
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+ runMoveControl()
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+ setDrivingStatus(status: DrivingStatus)
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+ setSpeed(speed: double)
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+ setRotationspeed(speed: double)
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- calcWheelSpeed()
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- 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><<driveModi>>
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ManualControl
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--
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- encoder: ESP32Encoder
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- debug: DebugMqtt*
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- name: String
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- speed: double = 0
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- last_millis: uint64_t = 0;
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- bufPos: uint8_t
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- buf: int16_t[BUF_SIZE]
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--
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+ Speedometer()
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+ init(pinA: uint8_t,
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pinB: uint8_t,
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name: String)
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+ runSpeedometer()
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+ setTargetPower(power: int8_t)
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+ getSpeed(): double
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+ getDirection(): uint8_t
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- addValToBuf(val: int16_t)
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- getAverage(): int16_t</panel_attributes><additional_attributes></additional_attributes></element></diagram> |