r2maeh2/engine_control
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Merge branch 'feature/improved_drive' into 'develop'

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acceleration behaviour reproduced



See merge request !13
This commit is contained in:
tkl 2016-08-29 14:57:59 +00:00
commit ed8119b716
3 changed files with 119 additions and 33 deletions
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34
source/application/drive_ctrl.c
View File

@ -21,6 +21,8 @@ struct drive_ctrl {
}; };
struct drive_ctrl_object { struct drive_ctrl_object {
unsigned int target_speed;
unsigned int turn_speed;
unsigned int current_speed; unsigned int current_speed;
}; };
@ -32,7 +34,9 @@ static struct drive_ctrl drive_ctrl = {
}; };
static struct drive_ctrl_object drive_ctrl_object = { static struct drive_ctrl_object drive_ctrl_object = {
.current_speed = 50, /* % */ .target_speed = 80, /* % */
.turn_speed = 40,
.current_speed = 0, /* % */
}; };
int drive_ctrl_init(void) int drive_ctrl_init(void)
@ -112,14 +116,38 @@ int drive_ctrl_set_speed_right(int speed_percent)
return ret; return ret;
} }
int drive_ctrl_set_speed_value(int speed_percent) int drive_ctrl_set_target_speed_value(int speed_percent)
{
drive_ctrl_object.target_speed = speed_percent;
return 0;
}
int drive_ctrl_get_target_speed_value(void)
{
return drive_ctrl_object.target_speed;
}
int drive_ctrl_set_current_speed_value(int speed_percent)
{ {
drive_ctrl_object.current_speed = speed_percent; drive_ctrl_object.current_speed = speed_percent;
return 0; return 0;
} }
int drive_ctrl_get_speed_value(void) int drive_ctrl_get_current_speed_value(void)
{ {
return drive_ctrl_object.current_speed; return drive_ctrl_object.current_speed;
} }
int drive_ctrl_set_turn_speed_value(int speed_percent)
{
drive_ctrl_object.turn_speed = speed_percent;
return 0;
}
int drive_ctrl_get_turn_speed_value(void)
{
return drive_ctrl_object.turn_speed;
}

8
source/application/include/drive_ctrl.h
View File

@ -12,8 +12,12 @@ int drive_ctrl_init(void);
int drive_ctrl_set_speed_left(int speed_percent); int drive_ctrl_set_speed_left(int speed_percent);
int drive_ctrl_set_speed_right(int speed_percent); int drive_ctrl_set_speed_right(int speed_percent);
int drive_ctrl_set_speed_value(int speed_percent); int drive_ctrl_set_target_speed_value(int speed_percent);
int drive_ctrl_get_speed_value(void); int drive_ctrl_get_target_speed_value(void);
int drive_ctrl_set_current_speed_value(int speed_percent);
int drive_ctrl_get_current_speed_value(void);
int drive_ctrl_set_turn_speed_value(int speed_percent);
int drive_ctrl_get_turn_speed_value(void);
#endif /* SOURCE_APPLICATION_INCLUDE_DRIVE_CTRL_H_ */ #endif /* SOURCE_APPLICATION_INCLUDE_DRIVE_CTRL_H_ */

110
source/application/shell_commands.c
View File

@ -6,10 +6,15 @@
*/ */
#include <stddef.h> #include <stddef.h>
#include <stdlib.h> #include <stdlib.h>
#include <stdbool.h>
#include <stdint.h>
#include "list.h" #include "list.h"
#include "driver.h" #include "driver.h"
#include "shell.h" #include "shell.h"
#include "queue.h"
#include "stack.h"
#include "kernel.h"
#include "drive_ctrl.h" #include "drive_ctrl.h"
#include "version.h" #include "version.h"
@ -86,31 +91,35 @@ int shell_commands_init(void)
static void *drive_turn_right_cb(const char *param) static void *drive_turn_right_cb(const char *param)
{ {
int speed = drive_ctrl_get_speed_value(); drive_halt_cb(NULL);
drive_ctrl_set_speed_left(abs(speed)); int turn_speed = drive_ctrl_get_turn_speed_value();
if(speed > 0) for(int i = 0; i < turn_speed; i++) {
speed *= -1; drive_ctrl_set_speed_left(i);
drive_ctrl_set_speed_right(speed); drive_ctrl_set_speed_right(-1 * i);
sleep_ms(10);
}
return NULL; return NULL;
} }
static void *drive_turn_left_cb(const char *param) static void *drive_turn_left_cb(const char *param)
{ {
int speed = drive_ctrl_get_speed_value(); drive_halt_cb(NULL);
drive_ctrl_set_speed_right(abs(speed)); int turn_speed = drive_ctrl_get_turn_speed_value();
if(speed > 0) for(int i = 0; i < turn_speed; i++) {
speed *= -1; drive_ctrl_set_speed_right(i);
drive_ctrl_set_speed_left(speed); drive_ctrl_set_speed_left(-1 * i);
sleep_ms(10);
}
return NULL; return NULL;
} }
static void *drive_boost_cb(const char *param) static void *drive_boost_cb(const char *param)
{ {
int speed = drive_ctrl_get_speed_value(); int speed = drive_ctrl_get_target_speed_value();
speed += 10; speed += 10;
drive_ctrl_set_speed_value(speed); drive_ctrl_set_target_speed_value(speed);
drive_ctrl_set_speed_left(speed); drive_ctrl_set_speed_left(speed);
drive_ctrl_set_speed_right(speed); drive_ctrl_set_speed_right(speed);
@ -119,9 +128,9 @@ static void *drive_boost_cb(const char *param)
static void *drive_retard_cb(const char *param) static void *drive_retard_cb(const char *param)
{ {
int speed = drive_ctrl_get_speed_value(); int speed = drive_ctrl_get_target_speed_value();
speed -= 10; speed -= 10;
drive_ctrl_set_speed_value(speed); drive_ctrl_set_target_speed_value(speed);
drive_ctrl_set_speed_left(speed); drive_ctrl_set_speed_left(speed);
drive_ctrl_set_speed_right(speed); drive_ctrl_set_speed_right(speed);
@ -130,32 +139,77 @@ static void *drive_retard_cb(const char *param)
static void *drive_halt_cb(const char *param) static void *drive_halt_cb(const char *param)
{ {
drive_ctrl_set_speed_left(0); int current_speed = drive_ctrl_get_current_speed_value();
drive_ctrl_set_speed_right(0); if(current_speed > 0) {
for(int i = current_speed; i > 0; i--) {
drive_ctrl_set_current_speed_value(i);
drive_ctrl_set_speed_left(i);
drive_ctrl_set_speed_right(i);
sleep_ms(10);
}
}
else {
for(int i = current_speed; i < 0; i++) {
drive_ctrl_set_current_speed_value(i);
drive_ctrl_set_speed_left(i);
drive_ctrl_set_speed_right(i);
sleep_ms(10);
}
}
return NULL; return NULL;
} }
static void *drive_forward_cb(const char *param) static void *drive_forward_cb(const char *param)
{ {
int speed = drive_ctrl_get_speed_value(); int target_speed = drive_ctrl_get_target_speed_value();
if(speed < 0) int current_speed = drive_ctrl_get_current_speed_value();
speed = abs(speed); if(target_speed < 0)
drive_ctrl_set_speed_value(speed); target_speed = abs(target_speed);
drive_ctrl_set_speed_left(speed); drive_ctrl_set_target_speed_value(target_speed);
drive_ctrl_set_speed_right(speed); if(current_speed < target_speed) {
for(int i = current_speed; i < target_speed; i++) {
drive_ctrl_set_current_speed_value(i);
drive_ctrl_set_speed_left(i);
drive_ctrl_set_speed_right(i);
sleep_ms(10);
}
}
else {
for(int i = current_speed; i > target_speed; i--) {
drive_ctrl_set_current_speed_value(i);
drive_ctrl_set_speed_left(i);
drive_ctrl_set_speed_right(i);
sleep_ms(10);
}
}
return NULL; return NULL;
} }
static void *drive_backward_cb(const char *param) static void *drive_backward_cb(const char *param)
{ {
int speed = drive_ctrl_get_speed_value(); int target_speed = drive_ctrl_get_target_speed_value();
if(speed > 0) int current_speed = drive_ctrl_get_current_speed_value();
speed *= -1; if(target_speed > 0)
drive_ctrl_set_speed_value(speed); target_speed *= -1;
drive_ctrl_set_speed_left(speed); drive_ctrl_set_target_speed_value(target_speed);
drive_ctrl_set_speed_right(speed); if(current_speed > target_speed) {
for(int i = current_speed; i > target_speed; i--) {
drive_ctrl_set_current_speed_value(i);
drive_ctrl_set_speed_left(i);
drive_ctrl_set_speed_right(i);
sleep_ms(10);
}
}
else {
for(int i = current_speed; i < target_speed; i++) {
drive_ctrl_set_current_speed_value(i);
drive_ctrl_set_speed_left(i);
drive_ctrl_set_speed_right(i);
sleep_ms(10);
}
}
return NULL; return NULL;
} }