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added basic motioncorrection for the move function

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This commit is contained in:
hhaupt
2024-06-14 02:06:37 +02:00
parent 2701446915
commit b1bb29aa1c
2 changed files with 68 additions and 17 deletions
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36
src/motion/Motion.h
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@@ -45,8 +45,8 @@ class Motor{
class Motion{
protected:
static MotionDetection* imuInst;
static const uint16_t RIGHT_MOTOR_DUTY = 4096;
static const uint16_t LEFT_MOTOR_DUTY = 4096;
static inline uint16_t RIGHT_MOTOR_DUTY = 3900;
static inline uint16_t LEFT_MOTOR_DUTY = 3900;
static const int MOTOR_RIGHT_PIN = 11;
static const int MOTOR_LEFT_PIN = 12;
static void moveTask(void * args);
@@ -57,6 +57,9 @@ protected:
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
static inline Motor left = Motor(MOTOR_LEFT_PIN,TIMER,CHANNEL_LEFT);
@@ -65,10 +68,6 @@ public:
//MotionDetection instance, for motion Correction and user (access with dezibot.motion.detection)
static inline MotionDetection detection;
/**
* constructor gets a pointer to the motiondetection class, which enables correction of the motion
*/
/**
* @brief Initialize the movement component.
*
@@ -78,23 +77,30 @@ 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=3900);
/**
* @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=3900);
/**
* @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=3900);
/**
* @brief stops any current movement, no matter if timebased or endless
@@ -102,6 +108,14 @@ 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 = 3900);
};