153 lines
3.8 KiB
C++
153 lines
3.8 KiB
C++
/**
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* @file testMode.h
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* @author Alexander Klein (alex@kleiax.de)
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* @brief Contains a class to test different functions from the rover.
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* @version 0.1
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* @date 2022-09-08
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#ifndef TEST_MODE_H
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#define TEST_MODE_H
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#include <iostream>
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#include "moveControl.h"
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#include "navigation.h"
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#include "driveModi/driveModi.h"
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/**
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* @brief Test different functions from the rover.
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*
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* You can test engine, engine controller, light and speed meter.
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*/
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class TestMode : public DriveModi {
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public:
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/**
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* @brief Different states to test the engine
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*
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*/
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enum Maneuver {
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None,
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LeftEngine,
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RightEngine,
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BothEngine,
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Turn,
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Drive
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};
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/**
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* @brief Construct a new Test Mode object
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*
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* @param moveControl
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* @param navigation
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*/
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TestMode(MoveControl *moveControl, Navigation* navigation);
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~TestMode();
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/**
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* @brief Controls the maneuver.
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*
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* Needed for actions which take a longer time.
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* Should be called ever main loop.
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*/
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void loop() override;
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/**
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* @brief Set the speed for the Maneuver Drive
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*
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* @param speed m/s / 100
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*/
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void setSpeed(int16_t speed);
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/**
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* @brief Set the rotation speed for the Maneuver Drive
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*
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* @param speed rad/s / 100
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*/
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void setRotationSpeed(int16_t speed);
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bool drive(int16_t cm = 0, int16_t degree = 0);
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/**
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* @brief Sets the left Engine to a specific power value.
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*
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* This start a maneuver with the given time.
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*
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* @param powerPercentage from 0% to 100%
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* @param seconds time to run the engine
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* @return true success
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* @return false failure
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*/
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bool leftEngine(int16_t powerPercentage, int16_t seconds);
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/**
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* @brief See leftEngine
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*
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* @param powerPercentage
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* @param seconds
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* @return true
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* @return false
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*/
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bool rightEngine(int16_t powerPercentage, int16_t seconds);
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/**
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* @brief See leftEngine
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*
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* @param powerPercentage
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* @param seconds
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* @return true
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* @return false
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*/
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bool bothEngine(int16_t powerPercentage, int16_t seconds);
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/**
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* @brief Abort the running maneuver.
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*
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* Stops all movement. This is the only possibility to cancel a maneuver
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* before the time is up.
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*/
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void abortManeuver();
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uint8_t getRemainingManeuverTime();
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/**
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* @brief Returns true if a maneuver is running
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*
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* @return true
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* @return false
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*/
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bool getBusy() const { return this->busy; }
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Maneuver getManeuver() const { return this->maneuver; }
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Speedometer* getSpeedometerLeft() { return this->moveControl->getSpeedometerLeft(); }
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Speedometer* getSpeedometerRight() { return this->moveControl->getSpeedometerRight(); }
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private:
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bool engineInit(int16_t powerPercentage, int16_t seconds);
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MoveControl *moveControl;
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Navigation* navigation;
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Maneuver maneuver = Maneuver::None;
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int16_t maneuverValueOne = 0;
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int16_t maneuverValueTwo = 0;
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double speed = 0;
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double rotationSpeed = 0;
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bool busy = false;
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bool abort = false;
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uint8_t delay = 10;
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uint16_t azimuth;
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int16_t degree;
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uint32_t maneuverTime = 0;
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uint32_t lastMillis = 0;
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uint32_t actionStart = 0;
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};
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#endif // TEST_MODE_H
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