RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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This commit is contained in:
Pascal Serrarens 2025-03-04 16:01:55 +01:00
parent 990100e0ae
commit a1a6941a28
8 changed files with 42 additions and 30 deletions
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18
Arduino/Things/DRV8833.cpp
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@ -7,7 +7,7 @@ namespace RoboidControl {
DRV8833Motor::DRV8833Motor(Participant* participant,
unsigned char pinIn1,
unsigned char pinIn2,
RotationDirection direction)
bool reverse)
: Thing(participant) {
this->pinIn1 = pinIn1;
this->pinIn2 = pinIn2;
@ -24,7 +24,7 @@ DRV8833Motor::DRV8833Motor(Participant* participant,
pinMode(pinIn2, OUTPUT); // configure the in1 pin to output mode
#endif
this->direction = direction;
this->reverse = reverse;
}
void DRV8833Motor::SetMaxRPM(unsigned int rpm) {
@ -46,9 +46,11 @@ void DRV8833Motor::SetAngularVelocity(Spherical velocity) {
// Determine the rotation direction
if (velocity.direction.horizontal.InDegrees() < 0)
motorSpeed = -motorSpeed;
if (this->reverse)
motorSpeed =-motorSpeed;
std::cout << "ang speed " << this->name << " = " << angularSpeed << " rpm " << rpm
<< ", motor signal = " << (int)motorSignal << "\n";
// std::cout << "ang speed " << this->name << " = " << angularSpeed << " rpm " << rpm
// << ", motor signal = " << (int)motorSignal << "\n";
#if (ESP32)
if (motorSpeed == 0) { // stop
@ -103,16 +105,16 @@ DRV8833::DRV8833(Participant* participant,
unsigned char pinBIn1,
unsigned char pinBIn2,
unsigned char pinStandby,
DRV8833Motor::RotationDirection directionA,
DRV8833Motor::RotationDirection directionB)
bool reverseA,
bool reverseB)
: Thing(participant) {
this->pinStandby = pinStandby;
if (pinStandby != 255)
pinMode(pinStandby, OUTPUT);
this->motorA = new DRV8833Motor(participant, pinAIn1, pinAIn2, directionA);
this->motorA = new DRV8833Motor(participant, pinAIn1, pinAIn2, reverseA);
this->motorA->name = "Motor A";
this->motorB = new DRV8833Motor(participant, pinBIn1, pinBIn2, directionB);
this->motorB = new DRV8833Motor(participant, pinBIn1, pinBIn2, reverseB);
this->motorB->name = "Motor B";
}

13
Arduino/Things/DRV8833.h
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@ -18,15 +18,16 @@ class DRV8833Motor : public Thing {
DRV8833Motor(Participant* participant,
unsigned char pinIn1,
unsigned char pinIn2,
RotationDirection direction = RotationDirection::Clockwise);
bool reverse = false);
void SetMaxRPM(unsigned int rpm);
virtual void SetAngularVelocity(Spherical velocity) override;
bool reverse = false;
protected:
unsigned char pinIn1 = 255;
unsigned char pinIn2 = 255;
RotationDirection direction = RotationDirection::Clockwise;
unsigned int maxRpm = 200;
};
@ -39,16 +40,16 @@ class DRV8833 : public Thing {
/// @param pinBIn2 The pin number connceted to the BIn2 port
/// @param pinStandby The pin number connected to the standby port, 255
/// indicated that the port is not connected
/// @param directionA The forward turning direction of motor A
/// @param directionB The forward turning direction of motor B
/// @param reverseA The forward turning direction of motor A
/// @param reverseB The forward turning direction of motor B
DRV8833(Participant* participant,
unsigned char pinAIn1,
unsigned char pinAIn2,
unsigned char pinBIn1,
unsigned char pinBIn2,
unsigned char pinStandby = 255,
DRV8833Motor::RotationDirection directionA = DRV8833Motor::RotationDirection::Clockwise,
DRV8833Motor::RotationDirection directionB = DRV8833Motor::RotationDirection::Clockwise);
bool reverseA = false,
bool reverseB = false);
DRV8833Motor* motorA = nullptr;
DRV8833Motor* motorB = nullptr;

9
Arduino/Things/UltrasonicSensor.cpp
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@ -41,7 +41,7 @@ float UltrasonicSensor::GetDistance() {
// if (distance > 30)
// distance = 0;
this->touchedSomething = (this->distance <= this->touchDistance);
this->touchedSomething |= (this->distance <= this->touchDistance);
// std::cout << "Ultrasonic " << this->distance << " " << this->touchedSomething << "\n";
@ -49,8 +49,15 @@ float UltrasonicSensor::GetDistance() {
}
void UltrasonicSensor::Update(unsigned long currentTimeMs) {
this->touchedSomething = false;
GetDistance();
}
// void UltrasonicSensor::ProcessBinary(char* bytes) {
// this->touchedSomething = (bytes[0] == 1);
// if (this->touchedSomething)
// std::cout << "Touching something!\n";
// }
} // namespace Arduino
} // namespace RoboidControl

2
Arduino/Things/UltrasonicSensor.h
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@ -20,6 +20,8 @@ class UltrasonicSensor : public TouchSensor {
virtual void Update(unsigned long currentTimeMs) override;
// virtual void ProcessBinary(char* bytes) override;
protected:
unsigned char pinTrigger = 0;
unsigned char pinEcho = 0;

11
LocalParticipant.cpp
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@ -111,7 +111,7 @@ Participant* LocalParticipant::GetParticipant(const char* ipAddress, int port) {
}
Participant* LocalParticipant::AddParticipant(const char* ipAddress, int port) {
std::cout << "New LocalParticipant " << ipAddress << ":" << port << "\n";
std::cout << "New Participant " << ipAddress << ":" << port << "\n";
Participant* participant = new Participant(ipAddress, port);
participant->networkId = (unsigned char)this->senders.size();
this->senders.push_back(participant);
@ -289,8 +289,13 @@ void LocalParticipant::Process(Participant* sender, BinaryMsg* msg) {
Thing* thing = sender->Get(msg->networkId, msg->thingId);
if (thing != nullptr)
thing->ProcessBinary(msg->bytes);
else
std::cout << "custom msg for unknown thing [" << (int)msg->networkId << "/" << (int)msg->thingId << "]\n";
else {
thing = this->Get(msg->networkId, msg->thingId);
if (thing != nullptr)
thing->ProcessBinary(msg->bytes);
else
std::cout << "custom msg for unknown thing [" << (int)msg->networkId << "/" << (int)msg->thingId << "]\n";
}
}
// Receive

4
Participant.cpp
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@ -28,8 +28,8 @@ Thing* Participant::Get(unsigned char networkId, unsigned char thingId) {
if (thing->id == thingId)
return thing;
}
// std::cout << "Could not find thing " << this->ipAddress << ":" << this->port
// << "[" << (int)networkId << "/" << (int)thingId << "]\n";
// std::cout << "Could not find thing " << this->ipAddress << ":" << this->port
// << "[" << (int)networkId << "/" << (int)thingId << "]\n";
return nullptr;
}

4
Things/DifferentialDrive.cpp
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@ -49,8 +49,8 @@ void DifferentialDrive::Update(unsigned long currentMs) {
if (this->rightWheel != nullptr)
this->rightWheel->SetAngularVelocity(Spherical(speedRight, Direction::right));
std::cout << "lin. speed " << linearVelocity << " ang. speed " << angularVelocity.distance << " left wheel "
<< speedLeft << " right wheel " << speedRight << "\n";
// std::cout << "lin. speed " << linearVelocity << " ang. speed " << angularVelocity.distance << " left wheel "
// << speedLeft << " right wheel " << speedRight << "\n";
}
} // namespace RoboidControl

11
Things/TouchSensor.cpp
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@ -7,17 +7,12 @@ TouchSensor::TouchSensor(Participant* participant) : Thing(participant) {
this->type = (unsigned char)Thing::Type::TouchSensor;
}
// TouchSensor::TouchSensor(RemoteParticipant* participant, unsigned char networkId, unsigned char thingId) :
// Thing(participant, networkId, thingId) {
// this->touchedSomething = false;
// }
void TouchSensor::GenerateBinary(char* bytes, unsigned char* ix) {}
void TouchSensor::ProcessBinary(char* bytes) {
this->touchedSomething = (bytes[0] == 1);
// if (this->touchedSomething)
// std::cout << "Touching something!\n";
if (bytes[0] == 1)
std::cout << this->name << " is Touching something!\n";
this->touchedSomething |= (bytes[0] == 1);
}
} // namespace RoboidControl