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reorganized libraries into repo's

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This commit is contained in:
willem oldemans
2020-10-01 20:43:27 +02:00
parent c246965111
commit c7fb9ff84b
21 changed files with 180 additions and 400 deletions
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57
src/motors.cpp
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@@ -8,8 +8,8 @@
#include "balancing.h"
#include "../lib/MC34933/MC34933.h" // https://github.com/willumpie82/MC34933
#include <../lib/PWMFrequency/PWMFrequency.h> // https://github.com/TheDIYGuy999/PWMFrequency
#include "MC34933.h"
#include "PWMFrequency.h"
bool isDriving; // is the vehicle driving?
// Motor objects
@@ -66,8 +66,8 @@ void setupMotors()
// SYNTAX: IN1, IN2, PWM, min. input value, max. input value, neutral position width
// invert rotation direction true or false
Motor1.begin(motor1_in1, motor1_in2, 0, 100, 4, false); // Drive motor
Motor2.begin(motor2_in1, motor2_in2, 0, 100, 4, false); // Steering motor (Drive in "HP" version)
Motor2.begin(motor1_in1, motor1_in2, 0, 100, 4, false); // Drive motor
Motor1.begin(motor2_in1, motor2_in2, 0, 100, 4, false); // Steering motor (Drive in "HP" version)
// Motor PWM frequency prescalers (Requires the PWMFrequency.h library)
// Differential steering vehicles: locked to 984Hz, to make sure, that both motors use 984Hz.
@@ -84,15 +84,25 @@ void setupMotors()
MC34933* getMotorptr(motor_t motor)
{
if(motor==1)
switch(motor)
{
return &Motor1;
case MOTOR1:
{
return &Motor1;
}
break;
case MOTOR2:
{
return &Motor2;
}
break;
default:
{
return NULL;
}
}
else
{
return &Motor2;
}
}
//
@@ -101,6 +111,16 @@ MC34933* getMotorptr(motor_t motor)
// =======================================================================================================
//
void motordrive(motor_t motor, int controlValue, int minPWM, int maxPWM, int rampTime, bool neutralBrake)
{
getMotorptr(motor)->drive( controlValue, minPWM, maxPWM, rampTime, neutralBrake);
}
bool motorBrakeActive(motor_t motor)
{
return getMotorptr(motor)->brakeActive();
}
void drive()
{
vehicleConfig* cfg = getConfigptr();
@@ -110,7 +130,6 @@ void drive()
case car:
{
driveMotorsCar();
}
break;
@@ -149,7 +168,7 @@ void driveMotorsCar() {
vehicleConfig* cfg = getConfigptr();
RcData* data = getDataptr();
ackPayload* payload = getPayloadptr();
//ackPayload* payload = getPayloadptr();
int maxPWM;
byte maxAcceleration;
@@ -161,7 +180,7 @@ void driveMotorsCar() {
maxPWM = cfg->getmaxPWMfull(); // Full
}
if (!payload->batteryOk && cfg->getliPo()) data->axis3 = 50; // Stop the vehicle, if the battery is empty!
if (!data->batteryOk && cfg->getliPo()) data->axis3 = 50; // Stop the vehicle, if the battery is empty!
// Acceleration & deceleration limitation (ms per 1 step input signal change)
if (data->mode2) {
@@ -178,7 +197,7 @@ void driveMotorsCar() {
if (Motor1.drive(data->axis3, cfg->getminPWM(), maxPWM, maxAcceleration, true) ) { // The drive motor (function returns true, if not in neutral)
UpdatemillisLightOff(); // Reset the headlight delay timer, if the vehicle is driving!
}
if (cfg->getvehicleType() != 5) { // If not car with MSRC stabilty control
if (cfg->getvehicleType() != carwithMRSC) { // If not car with MSRC stabilty control
Motor2.drive(data->axis1, 0, cfg->getsteeringTorque(), 0, false); // The steering motor (if the original steering motor is reused instead of a servo)
}
}
@@ -199,7 +218,7 @@ void driveMotorsForklift() {
vehicleConfig* cfg = getConfigptr();
RcData* data = getDataptr();
ackPayload* payload = getPayloadptr();
//ackPayload* payload = getPayloadptr();
int maxPWM;
byte maxAcceleration;
@@ -211,7 +230,7 @@ void driveMotorsForklift() {
maxPWM = cfg->getmaxPWMfull(); // Full
}
if (!payload->batteryOk && cfg->getliPo()) data->axis3 = 50; // Stop the vehicle, if the battery is empty!
if (!data->batteryOk && cfg->getliPo()) data->axis3 = 50; // Stop the vehicle, if the battery is empty!
// Acceleration & deceleration limitation (ms per 1 step input signal change)
if (data->mode2) {
@@ -254,7 +273,7 @@ void driveMotorsSteering() {
vehicleConfig* cfg = getConfigptr();
RcData* data = getDataptr();
ackPayload* payload = getPayloadptr();
//ackPayload* payload = getPayloadptr();
// The steering overlay
int steeringFactorLeft=0;
@@ -312,7 +331,7 @@ void driveMotorsSteering() {
pwm[0] = map(pwm[0], 100, -100, 100, 0); // convert -100 to 100% to 0-100 for motor control
pwm[1] = map(pwm[1], 100, -100, 100, 0);
if (!payload->batteryOk && cfg->getliPo()) { // Both motors off, if LiPo battery is empty!
if (!data->batteryOk && cfg->getliPo()) { // Both motors off, if LiPo battery is empty!
pwm[0] = 0;
pwm[1] = 0;
}