Ein Roboter mit bürstenlosem Antrieb, differenzial und NRF24L01 Funk. Großflächig gebaut um ein großes Solarpanel aufzunehmen.
https://gitlab.informatik.hs-fulda.de/fdai5253/roboter
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67 lines
2.2 KiB
67 lines
2.2 KiB
#include "Steuerung.h"
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Steuerung::Steuerung(Joystick* joystick, Motor* left, Motor* right) {
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this -> joystick = joystick;
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this -> left = left;
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this -> right = right;
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}
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void Steuerung::mapReadingsToMatchPWMValues() {
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(this -> xValue) = map(joystick -> xAxisReading, joystick -> lowestValue, joystick -> highestValue, left -> lowestValue, left -> highestValue);
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(this -> yValue) = map(joystick -> yAxisReading, joystick -> lowestValue, joystick -> highestValue, right -> highestValue, right -> lowestValue);
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}
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void Steuerung::applyPWMValuesDependingOnReadings() {
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if ((abs(this -> xValue) > (joystick -> spaceing)) || (abs(this -> yValue) > (joystick -> spaceing))) {
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if (this -> yValue >= 0) {
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if (this -> xValue >= 0) {
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//+y , +x
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(left -> PWMValue) = this -> yValue;
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(right -> PWMValue) = (this -> yValue) - (this -> xValue);
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if ((this -> xValue) >= (this -> yValue)) {
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(left -> PWMValue) = 255;
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(right -> PWMValue) = -255;
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}
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} else {
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//+y , -x
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(left -> PWMValue) = this -> yValue;
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(right -> PWMValue) = (this -> yValue) + (this -> xValue);
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if (abs(this -> xValue) >= (this -> yValue)) {
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(left -> PWMValue) = -255;
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(right -> PWMValue) = 255;
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}
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}
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} else {
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if (this -> xValue >= 0) {
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//-y , +x
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(left -> PWMValue) = this -> yValue;
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(right -> PWMValue) = (this -> yValue) + (this -> xValue);
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if (this -> xValue >= abs(this -> yValue)) {
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(left -> PWMValue) = 255;
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(right -> PWMValue) = -255;
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}
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} else {
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//-y , -x
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(left -> PWMValue) = this -> yValue;
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(right -> PWMValue) = (this -> yValue) - (this -> xValue);
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if (abs(this -> xValue) >= abs(this -> yValue)) {
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(left -> PWMValue) = -255;
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(right -> PWMValue) = 255;
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}
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}
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}
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if (abs(this -> xValue) < (joystick -> spaceing)) {
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(left -> PWMValue) = this -> yValue;
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(right -> PWMValue) = this -> yValue;
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}
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} else {
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(left -> PWMValue) = 0;
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(right -> PWMValue) = 0;
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}
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}
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void Steuerung::updateValues() {
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joystick -> checkJoystickInput();
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mapReadingsToMatchPWMValues();
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applyPWMValuesDependingOnReadings();
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}
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