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MotorControl.cpp
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MotorControl.cpp
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#include "MotorControl.hpp"
#include "ROBOT_CONFIG.hpp"
MotorControl::MotorControl(PinName a, PinName b) {
_motor_A = new PwmOut(a);
_motor_B = new PwmOut(b);
_motor_A->period_ms(15); // same period as S.Bus
_motor_B->period_ms(15); // same period as S.Bus
_prev_steer_value = 0;
_prev_throt_value = 0;
_pw_a = 0.0;
_pw_b = 0.0;
_current_steering_pw_center = _STEERING_PW_CENTER;
}
void MotorControl::reset_steering_trim(void) {
_current_steering_pw_center = _STEERING_PW_CENTER;
set_steering_and_throttle(_prev_steer_value, _prev_throt_value, true);
}
void MotorControl::adjust_steering_trim(float adj) {
_current_steering_pw_center += adj;
set_steering_and_throttle(_prev_steer_value, _prev_throt_value, true);
}
#define SBUS_CENTER 1024
// center + 672
#define SBUS_MAX 1696
// center - 672
#define SBUS_MIN 352
// These numbers are specific to this particular servo on this particular
// frame:
#ifndef _THROTTLE_PW_CENTER
#define _THROTTLE_PW_CENTER 0.001515
#endif // _THROTTLE_PW_CENTER
#ifndef _THROTTLE_PW_RANGE
#define _THROTTLE_PW_RANGE 0.000400
#endif // _THROTTLE_PW_RANGE
#ifndef _THROTTLE_PW_MAX
const float THROTTLE_PW_MAX = _THROTTLE_PW_CENTER + _THROTTLE_PW_RANGE;
#else
const float THROTTLE_PW_MAX = _THROTTLE_PW_MAX;
#endif // _THROTTLE_PW_MAX
#ifndef _THROTTLE_PW_MIN
const float THROTTLE_PW_MIN = _THROTTLE_PW_CENTER - _THROTTLE_PW_RANGE;
#else
const float THROTTLE_PW_MIN = _THROTTLE_PW_MIN;
#endif // _THROTTLE_PW_MIN
const float _STEERING_PW_MAX = _STEERING_PW_CENTER + _STEERING_PW_RANGE;
const float _STEERING_PW_MIN = _STEERING_PW_CENTER - _STEERING_PW_RANGE;
void MotorControl::set_steering_and_throttle(uint16_t sb_steering, uint16_t sb_throttle, bool Force /*=false*/) {
if (sb_steering > SBUS_MAX) {
sb_steering = SBUS_MAX;
} else if (sb_steering < SBUS_MIN) {
sb_steering = SBUS_MIN;
}
if (sb_throttle > SBUS_MAX) {
sb_throttle = SBUS_MAX;
} else if (sb_throttle < SBUS_MIN) {
sb_throttle = SBUS_MIN;
}
if (!Force) {
if ((_prev_steer_value == sb_steering) && (_prev_throt_value == sb_throttle)) {
return;
}
}
_prev_steer_value = sb_steering;
_prev_throt_value = sb_throttle;
// This is a value between -1.0 and +1.0:
float steer_percentValue = ((float) sb_steering - 1024.0) / 672.0; // -1 left, +1 right
float throt_percentValue = ((float) sb_throttle - 1024.0) / 672.0; // -1 backwards, +1 forward
#ifdef USE_SKIDMODE
float leftWheel = throt_percentValue + steer_percentValue;
float rightWheel = throt_percentValue - steer_percentValue;
if (leftWheel > 1.0) {
leftWheel = 1.0;
} else if (leftWheel < -1.0) {
leftWheel = -1.0;
}
if (rightWheel > 1.0) {
rightWheel = 1.0;
} else if (rightWheel < -1.0) {
rightWheel = -1.0;
}
_pw_a = leftWheel * _LEFT_PW_RANGE + _LEFT_PW_CENTER;
_pw_b = rightWheel * _RIGHT_PW_RANGE + _RIGHT_PW_CENTER;
#else // USE_SKIDMODE
_pw_a = steer_percentValue * _STEERING_PW_RANGE + _current_steering_pw_center;
_pw_b = throt_percentValue * _THROTTLE_PW_RANGE + _THROTTLE_PW_CENTER;
#endif // USE_SKIDMODE
// The limits of this particular servo on this particular bot:
if (_pw_a < _STEERING_PW_MIN) {
_pw_a = _STEERING_PW_MIN;
} else if (_pw_a > _STEERING_PW_MAX) {
_pw_a = _STEERING_PW_MAX;
}
// The limits of this particular servo on this particular bot:
if (_pw_b < THROTTLE_PW_MIN) {
_pw_b = THROTTLE_PW_MIN;
} else if (_pw_b > THROTTLE_PW_MAX) {
_pw_b = THROTTLE_PW_MAX;
}
_motor_B->pulsewidth(_pw_b);
_motor_A->pulsewidth(_pw_a);
}
uint16_t MotorControl::get_steer_value(void) {
return _prev_steer_value;
}
uint16_t MotorControl::get_throt_value(void) {
return _prev_throt_value;
}
float MotorControl::get_pw_a(void) {
return _pw_a;
}
float MotorControl::get_pw_b(void) {
return _pw_b;
}