117 lines
3.7 KiB
C++
117 lines
3.7 KiB
C++
/**
|
|
* @file manualControl.h
|
|
* @author Alexander Klein (alex@kleiax.de)
|
|
* @brief A small class to drive the Rover by the controller joystick.
|
|
* @version 0.1
|
|
* @date 2021-12-13
|
|
*
|
|
* @copyright Copyright (c) 2021
|
|
*
|
|
*/
|
|
#ifndef MANUAL_CONTROL_H
|
|
#define MANUAL_CONTROL_H
|
|
|
|
#include "moveControl.h"
|
|
#include "driveModi/driveModi.h"
|
|
#include "controlPadInput.h"
|
|
#include "calibrateCompass.h"
|
|
|
|
class DirectionChangeWrapper {
|
|
public:
|
|
virtual void action() = 0;
|
|
};
|
|
|
|
/**
|
|
* @brief Drive the Rover with a Joystick
|
|
*
|
|
* This class gets the x and y value from the PS3 controller
|
|
* and map the values to moveControl
|
|
*
|
|
* @see MoveControl
|
|
*/
|
|
class ManualControl : public DriveModi {
|
|
public:
|
|
enum class InputMode : uint8_t {
|
|
Analog,
|
|
Digital
|
|
};
|
|
|
|
ManualControl(MoveControl *moveControl, const ControlPadInput *input);
|
|
|
|
/**
|
|
* @brief Destroy the Manual Control object
|
|
* Set in moveControl speed and rotation to 0 and set DrivingStatus::Stop
|
|
*/
|
|
~ManualControl();
|
|
|
|
/**
|
|
* @brief Calls analogControl() to update all values.
|
|
*
|
|
* This function should be called every mainloop. If the delay is not reached, than the
|
|
* functions returns immediately.
|
|
* @see runSpeedometer()
|
|
* @see setDelay()
|
|
*/
|
|
void loop() override;
|
|
|
|
/**
|
|
* @brief Set the min delay between each loop
|
|
*
|
|
* @param delay_ time in Milliseconds
|
|
*/
|
|
void setDelay(uint8_t delay_) { delay = delay_; }
|
|
|
|
/**
|
|
* @brief Set the max speed
|
|
*
|
|
* @param maxSpeed in m/s
|
|
*/
|
|
void setMaxSpeed(double maxForwardSpeed) { maxForwardSpeed = maxForwardSpeed; }
|
|
void increaseMaxSpeed(double increase = 0.1) { maxForwardSpeed += increase; }
|
|
void decreaseMaxSpeed(double increase = 0.1) { maxForwardSpeed -= increase; }
|
|
double getMaxSpeed() { return this->maxForwardSpeed; }
|
|
|
|
/**
|
|
* @brief Set the max rotation
|
|
*
|
|
* @param maxRotation in rad/s (maybe)
|
|
*/
|
|
void setMaxRotation(double maxRotation) { maxRotationSpeed = maxRotation; }
|
|
void increaseMaxRotation(double increase = 0.1) { maxRotationSpeed += increase; }
|
|
void decreaseMaxRotation(double increase = 0.1) { maxRotationSpeed -= increase; }
|
|
double getMaxRotation() { return this->maxRotationSpeed; }
|
|
|
|
void setCalibrateCompass(CalibrateCompass* val = nullptr) { this->caliCompass = val; }
|
|
|
|
void switchInputMode();
|
|
void setInputMode(InputMode mode) { this->inputMode = mode; }
|
|
InputMode getInputMode() const { return this->inputMode; }
|
|
void setDirectionChangeCallback(DirectionChangeWrapper* callback) { this->directionChangeWrapper = callback; }
|
|
|
|
uint16_t getDutycycleLeft() const { return this->moveControl->getDutycycleLeft(); }
|
|
uint16_t getDutycycleRight() const { return this->moveControl->getDutycycleRight(); }
|
|
|
|
protected:
|
|
MoveControl *moveControl;
|
|
const ControlPadInput* input;
|
|
double maxForwardSpeed = 1;
|
|
double maxRotationSpeed = 7;
|
|
|
|
private:
|
|
/**
|
|
* @brief Noramly called repeatedly by loop() to calcluate new values.
|
|
* Set new values for speed and rotation in moveControl
|
|
*/
|
|
void analogControl();
|
|
void digitalControl();
|
|
|
|
bool lastLoopTurned = false;
|
|
uint8_t delay = 10;
|
|
uint32_t lastMillis = 0;
|
|
CalibrateCompass* caliCompass = nullptr;
|
|
DirectionChangeWrapper* directionChangeWrapper = nullptr;
|
|
InputMode inputMode = InputMode::Analog;
|
|
};
|
|
|
|
#endif // MANUAL_CONTROL_H
|