phillip/dezibot
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Merged MotionCorrection into Release (including InterfaceChange from motionDetection to motion.detection

Browse Source
This commit is contained in:
hhaupt
2024-06-14 02:51:54 +02:00
parent aa06a3b6a7 2b0cd00ddd
commit 7bc1359d50
14 changed files with 521 additions and 486 deletions
Download Patch File Download Diff File Expand all files Collapse all files

61
src/motion/Motion.h
View File

@@ -16,17 +16,37 @@
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
#include "driver/ledc.h"
#include "motionDetection/MotionDetection.h"
#define LEDC_MODE LEDC_LOW_SPEED_MODE
#define TIMER LEDC_TIMER_2
#define CHANNEL_LEFT LEDC_CHANNEL_3
#define CHANNEL_RIGHT LEDC_CHANNEL_4
#define DUTY_RES LEDC_TIMER_13_BIT // Set duty resolution to 13 bits
#define FREQUENCY (5000) // Frequency in Hertz. Set frequency at 5 kHz
#define DEFAULT_BASE_VALUE 3900
class Motor{
public:
Motor(uint8_t pin, ledc_timer_t timer, ledc_channel_t channel);
/**
* @brief Initializes the motor
*/
void begin(void);
/**
* @brief Set the Speed by changing the pwm. To avoid current peaks, a linear ramp-up is used.
*
* @attention it is requried at any time to use that method to access the motors or methods of the motionclass to avoid such peaks.
*
* @param duty the duty cyle that should be set, can be between 0-8192
*/
void setSpeed(uint16_t duty);
/**
* @brief returns the currently activ speed
*
* @return current speedvalue of the motor
*/
uint16_t getSpeed(void);
protected:
uint8_t pin;
@@ -38,18 +58,28 @@ class Motor{
class Motion{
protected:
static const uint16_t RIGHT_MOTOR_DUTY = 4096;
static const uint16_t LEFT_MOTOR_DUTY = 4096;
static inline uint16_t RIGHT_MOTOR_DUTY = DEFAULT_BASE_VALUE;
static inline uint16_t LEFT_MOTOR_DUTY = DEFAULT_BASE_VALUE;
static const int MOTOR_RIGHT_PIN = 11;
static const int MOTOR_LEFT_PIN = 12;
static void moveTask(void * args);
static void leftMotorTask(void * args);
static void rightMotorTask(void * args);
static inline TaskHandle_t xMoveTaskHandle = NULL;
static inline TaskHandle_t xClockwiseTaskHandle = NULL;
static inline TaskHandle_t xAntiClockwiseTaskHandle = NULL;
static inline TickType_t xLastWakeTime;
static inline FIFO_Package* buffer = new FIFO_Package[64];
static inline int correctionThreshold = 150;
public:
//Shared Timer to sync movement
//Instances of the motors, so they can also be used from outside to set values for the motors directly.
static inline Motor left = Motor(MOTOR_LEFT_PIN,TIMER,CHANNEL_LEFT);
static inline Motor right = Motor(MOTOR_RIGHT_PIN,TIMER,CHANNEL_RIGHT);
//MotionDetection instance, for motion Correction and user (access with dezibot.motion.detection)
static inline MotionDetection detection;
/**
* @brief Initialize the movement component.
@@ -60,23 +90,30 @@ public:
/**
* @brief Move forward for a certain amount of time.
* Call with moveForMs 0 will start movement, that must be stopped explicit by call to stop().
* The function applys a basic algorithm to improve the straigthness of the movement.
* Lifting the robot from the desk may corrupt the results and is not recommended.
*
* @param moveForMs Representing the duration of forward moving in milliseconds.
* @param baseValue The value that is used to start with the calibrated movement. Defaults to 3900.
* If the Dezibot is not moving forward at all increasing the value may help. If the robot is just jumping up and down but not forward, try a lower value.
*/
static void move(uint32_t moveForMs=0);
static void move(uint32_t moveForMs=0,uint baseValue=DEFAULT_BASE_VALUE);
/**
* @brief Rotate clockwise for a certain amount of time.
* Call with moveForMs 0 will start movement, that must be stopped explicit by call to stop().
* @param rotateForMs Representing the duration of rotating clockwise in milliseconds.
* @param rotateForMs Representing the duration of rotating clockwise in milliseconds, or 0 to rotate until another movecmd is issued. Default is 0
* @param baseValue The value that is used to start with the calibrated movement (not released yet, currently just the used value)
*/
static void rotateClockwise(uint32_t rotateForMs=0);
static void rotateClockwise(uint32_t rotateForMs=0,uint baseValue=DEFAULT_BASE_VALUE);
/**
* @brief Rotate anticlockwise for a certain amount of time.
* Call with moveForMs 0 will start movement, that must be stopped explicit by call to stop().
* @param rotateForMs Representing the duration of rotating anticlockwise in milliseconds.
* @param rotateForMs Representing the duration of rotating anticlockwise in milliseconds or 0 to let the robot turn until another movecommand is issued. Default is 0.
* @param baseValue The value that is used to start with the calibrated movement (not released yet, currently just the used value).
*/
static void rotateAntiClockwise(uint32_t rotateForMs=0);
static void rotateAntiClockwise(uint32_t rotateForMs=0,uint baseValue=DEFAULT_BASE_VALUE);
/**
* @brief stops any current movement, no matter if timebased or endless
@@ -84,6 +121,14 @@ public:
*/
static void stop(void);
/**
* @brief Does the same as the move function, but this function does not apply any kind of algorithm to improve the result.
*
* @param moveForMs how many ms should the robot move, or 0 to let the robot move until another move command is mentioned, default is 0
* @param baseValue the duty value that is used for the movement, default is 0
*/
static void moveWithoutCorrection(uint32_t moveForMs=0, uint baseValue = DEFAULT_BASE_VALUE);
};