Added the joystick control lib with example use (Joystick.ino)

Aufgaben.txt

@@ -6,6 +6,7 @@ Komponente			|	Priorität	|	wird bearbeitet von
 ESC (Motorsteuerung)		|	hoch		|	Yves
 Servo (Lenkung)			|	hoch		|	Yves
 Funkkommunikation		|	hoch		|	Lukas
+Joystickbasiertes lenken (lib)	|	hoch		|	Lukas
 mechanischer Aufbau		|	hoch		|	Yves
 MPPT Solarlader			|	niedrig		|	nicht in Bearbeitung
 Bluetooth Beacon Tracking	|

Code/Joystick/Joystick.ino

@@ -0,0 +1,42 @@
+#include <Steuerung.h>
+//Informationen Joystick 
+Joystick *joystick;
+const uint16_t xAxisPin = 5;
+const uint16_t yAxisPin = 4;
+const int16_t lowestJoystickValue = 0;
+const int16_t highestJoystickValue = 511;
+const int16_t spaceing = 50;
+
+//Informationen linker Motor
+Motor *left;
+const int16_t lowestPWMValueLeftMotor = -255;
+const int16_t highestPWMValueLeftMotor = 255;
+
+//Informationen rechter Motor
+Motor *right;
+const int16_t lowestPWMValueRightMotor = -255;
+const int16_t highestPWMValueRightMotor = 255;
+
+
+Steuerung *steuerung;
+
+void setup() {
+  joystick = new Joystick(xAxisPin, yAxisPin, lowestJoystickValue, highestJoystickValue, spaceing);
+  left = new Motor(lowestPWMValueLeftMotor, highestPWMValueLeftMotor);
+  right = new Motor(lowestPWMValueRightMotor, highestPWMValueRightMotor);
+  steuerung = new Steuerung(joystick, left, right);
+  Serial.begin(9600);
+}
+
+void loop() {
+  steuerung -> updateValues();
+  
+  //DEBUG
+  Serial.print("Left motor PWMValue: ");
+  Serial.println(left -> PWMValue);
+  Serial.print("Right motor PWMValue: ");
+  Serial.println(right -> PWMValue);
+  //SendValues
+  delay(500);
+
+}

Code/libraries/Joystick/Joystick.cpp

@@ -0,0 +1,17 @@
+#include "Joystick.h"
+
+Joystick::Joystick(uint16_t x_pin, uint16_t y_pin, int16_t lowestValue, int16_t highestValue, uint16_t spaceing) {
+  this -> x_pin = x_pin;
+  this -> y_pin = y_pin;
+  this -> lowestValue = lowestValue;
+  this -> highestValue = highestValue;
+  this -> spaceing = spaceing;
+}
+
+void Joystick::checkJoystickInput() {
+  this -> xAxisReading = analogRead(x_pin);
+  this -> yAxisReading = analogRead(y_pin);
+  //9-bit reichen, der ADC schafft bestenfalls 8-bit praezision
+  (this -> xAxisReading) = (this -> xAxisReading) >> 1;
+  (this -> yAxisReading) = (this -> yAxisReading) >> 1;
+}

Code/libraries/Joystick/Joystick.h

@@ -0,0 +1,22 @@
+#ifndef __JOYSTICK__
+#define __JOYSTICK__
+
+#include "Motor.h"
+
+class Joystick {
+    // Pin belegungen
+  private:
+    uint16_t x_pin; // Pin Nummer an dem der X-output des Joysticks angebunden ist.
+    uint16_t y_pin; // Pin Nummer an dem der X-output des Joysticks angebunden ist.
+  public:
+    int16_t lowestValue;
+    int16_t highestValue;
+    uint16_t spaceing; // Abstand vom mittelpunkt um zappeln zu verhindern.
+    int16_t xAxisReading;
+    int16_t yAxisReading;
+
+  public:
+    Joystick(uint16_t x_pin, uint16_t y_pin, int16_t lowestValue, int16_t highestValue, uint16_t spaceing);
+    void checkJoystickInput();
+};
+#endif

Code/libraries/Joystick/Motor.cpp

@@ -0,0 +1,7 @@
+#include "Motor.h"
+
+Motor::Motor(int16_t lowestValue, int16_t highestValue) {
+  this -> highestValue = highestValue;
+  this -> lowestValue = lowestValue;
+  this -> PWMValue = 0;
+}

Code/libraries/Joystick/Motor.h

@@ -0,0 +1,15 @@
+#ifndef __MOTOR__
+#define __MOTOR__
+
+#include <Arduino.h>
+
+class Motor {
+  public:
+    int16_t highestValue;
+    int16_t lowestValue;
+    int16_t PWMValue;
+
+  public:
+    Motor(int16_t lowestValue, int16_t highestValue);
+};
+#endif

Code/libraries/Joystick/Steuerung.cpp

@@ -0,0 +1,67 @@
+#include "Steuerung.h"
+
+Steuerung::Steuerung(Joystick* joystick, Motor* left, Motor* right) {
+  this -> joystick = joystick;
+  this -> left = left;
+  this -> right = right;
+}
+
+void Steuerung::mapReadingsToMatchPWMValues() {
+  (this -> xValue) = map(joystick -> xAxisReading, joystick -> lowestValue, joystick -> highestValue, left -> lowestValue, left -> highestValue);
+  (this -> yValue) = map(joystick -> yAxisReading, joystick -> lowestValue, joystick -> highestValue, right -> highestValue, right -> lowestValue);
+}
+
+void Steuerung::applyPWMValuesDependingOnReadings() {
+  if ((abs(this -> xValue) > (joystick -> spaceing)) || (abs(this -> yValue) > (joystick -> spaceing))) {
+    if (this -> yValue >= 0) {
+      if (this -> xValue >= 0) {
+        //+y , +x
+        (left -> PWMValue) = this -> yValue;
+        (right -> PWMValue) = (this -> yValue) - (this -> xValue);
+        if ((this -> xValue) >= (this -> yValue)) {
+          (left -> PWMValue) = 255;
+          (right -> PWMValue) = -255;
+        }
+      } else {
+        //+y , -x
+        (left -> PWMValue) = this -> yValue;
+        (right -> PWMValue) = (this -> yValue) + (this -> xValue);
+        if (abs(this -> xValue) >= (this -> yValue)) {
+          (left -> PWMValue) = -255;
+          (right -> PWMValue) = 255;
+        }
+      }
+    } else {
+      if (this -> xValue >= 0) {
+        //-y , +x
+        (left -> PWMValue) = this -> yValue;
+        (right -> PWMValue) = (this -> yValue) + (this -> xValue);
+        if (this -> xValue >= abs(this -> yValue)) {
+          (left -> PWMValue) = 255;
+          (right -> PWMValue) = -255;
+        }
+      } else {
+        //-y , -x
+        (left -> PWMValue) = this -> yValue;
+        (right -> PWMValue) = (this -> yValue) - (this -> xValue);
+        if (abs(this -> xValue) >= abs(this -> yValue)) {
+          (left -> PWMValue) = -255;
+          (right -> PWMValue) = 255;
+        }
+      }
+    }
+    if (abs(this -> xValue) < (joystick -> spaceing)) {
+      (left -> PWMValue) = this -> yValue;
+      (right -> PWMValue) = this -> yValue;
+    }
+  } else {
+    (left -> PWMValue) = 0;
+    (right -> PWMValue) = 0;
+  }
+
+}
+void Steuerung::updateValues() {
+  joystick -> checkJoystickInput();
+  mapReadingsToMatchPWMValues();
+  applyPWMValuesDependingOnReadings();
+}

Code/libraries/Joystick/Steuerung.h

@@ -0,0 +1,25 @@
+#ifndef __STEUERUNG__
+#define __STEUERUNG__
+
+#include "Motor.h"
+#include "Joystick.h"
+
+class Steuerung {
+  private:
+    Joystick* joystick;
+    Motor* left;
+    Motor* right;
+    int16_t xValue;
+    int16_t yValue;
+
+  public:
+    Steuerung(Joystick* joystick, Motor* left, Motor* right);
+    void updateValues();
+
+  private:
+    void mapReadingsToMatchPWMValues();
+    void applyPWMValuesDependingOnReadings();
+
+
+};
+#endif

Code/libraries/README.MD

@@ -0,0 +1,4 @@
+Im Ordner libraries befindet sich die Joystick librarie,
+welche in den Ordner ...Arduino/libraries verschoben werden muss.
+Die Joystick.ino enthält eine beispielhafte verwendung der lib,
+sie kann mittels Arduino IDE Compiliert und auf den Arduino geuploaded werden.