StopPointTeam/TaiChi
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将 double 替换为 float 以提高性能

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This commit is contained in:
lxbpxylps@126.com 2021-02-15 11:01:17 +08:00
parent 2efd7a390b
commit 1d9c7466b4
5 changed files with 42 additions and 42 deletions
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12
TaiChi/TaiChi.ino
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@ -87,13 +87,13 @@ uint8_t CalcDirection(void);
#define CATCH_END 2 #define CATCH_END 2
#define RELEASE_END 3 #define RELEASE_END 3
//沿线直行，在触发条件后停止 //沿线直行，在触发条件后停止
void LineForward(uint8_t end_position, double speed_rate = 1.0); void LineForward(uint8_t end_position, float speed_rate = 1.0);
//沿线后退，在触发条件后停止 //沿线后退，在触发条件后停止
void LineBackward(uint8_t end_position, double speed_rate = 1.0); void LineBackward(uint8_t end_position, float speed_rate = 1.0);
//直行或后退或转向 //直行或后退或转向
void TurnDirection(uint8_t direction, double speed_rate = 1.0); void TurnDirection(uint8_t direction, float speed_rate = 1.0);
//*************************************************************************************** //***************************************************************************************
@ -280,7 +280,7 @@ uint8_t CalcDirection(void)
//沿线直行，在触发条件后停止 //沿线直行，在触发条件后停止
void LineForward(uint8_t end_position, double speed_rate) void LineForward(uint8_t end_position, float speed_rate)
{ {
//记录开始时间 //记录开始时间
unsigned long begin_time = micros(); unsigned long begin_time = micros();
@ -329,7 +329,7 @@ void LineForward(uint8_t end_position, double speed_rate)
//沿线后退，在触发条件后停止 //沿线后退，在触发条件后停止
void LineBackward(uint8_t end_position, double speed_rate) void LineBackward(uint8_t end_position, float speed_rate)
{ {
while(1) while(1)
{ {
@ -366,7 +366,7 @@ void LineBackward(uint8_t end_position, double speed_rate)
//直行或后退或转向 //直行或后退或转向
void TurnDirection(uint8_t direction, double speed_rate) void TurnDirection(uint8_t direction, float speed_rate)
{ {
if (direction == FORWARD) //继续直行 if (direction == FORWARD) //继续直行
{ {

22
TaiChi/moveTaiChi.cpp
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@ -11,7 +11,7 @@ Move::Move()
} }
Move::Move(double global_speed_rate) Move::Move(float global_speed_rate)
{ {
Move(); Move();
@ -20,7 +20,7 @@ Move::Move(double global_speed_rate)
//设置全局速度比率 //设置全局速度比率
void Move::SetGlobalSpeedRate(double global_speed_rate) void Move::SetGlobalSpeedRate(float global_speed_rate)
{ {
this->global_speed_rate = global_speed_rate; this->global_speed_rate = global_speed_rate;
} }
@ -34,14 +34,14 @@ uint8_t Move::GetCurrentMove(void)
//获取当前运动速度比率 //获取当前运动速度比率
double Move::GetCurrentSpeedRate(void) float Move::GetCurrentSpeedRate(void)
{ {
return current_speed_rate; return current_speed_rate;
} }
//控制某个轮子转动 //控制某个轮子转动
void Move::Wheel(uint8_t wheel, uint8_t rotation, double speed_rate) void Move::Wheel(uint8_t wheel, uint8_t rotation, float speed_rate)
{ {
uint8_t pin_in1, pin_in2, pin_ena; uint8_t pin_in1, pin_in2, pin_ena;
@ -99,7 +99,7 @@ void Move::Wheel(uint8_t wheel, uint8_t rotation, double speed_rate)
//前进 //前进
void Move::Forward(double speed_rate) void Move::Forward(float speed_rate)
{ {
Wheel(LEFT_A_WHEEL, FORWARD_ROTATION, speed_rate); Wheel(LEFT_A_WHEEL, FORWARD_ROTATION, speed_rate);
Wheel(LEFT_B_WHEEL, FORWARD_ROTATION, speed_rate); Wheel(LEFT_B_WHEEL, FORWARD_ROTATION, speed_rate);
@ -112,7 +112,7 @@ void Move::Forward(double speed_rate)
//后退 //后退
void Move::Backward(double speed_rate) void Move::Backward(float speed_rate)
{ {
Wheel(LEFT_A_WHEEL, BACKWARD_ROTATION, speed_rate); Wheel(LEFT_A_WHEEL, BACKWARD_ROTATION, speed_rate);
Wheel(LEFT_B_WHEEL, BACKWARD_ROTATION, speed_rate); Wheel(LEFT_B_WHEEL, BACKWARD_ROTATION, speed_rate);
@ -125,7 +125,7 @@ void Move::Backward(double speed_rate)
//向前左转 //向前左转
void Move::ForLeftward(double speed_rate, double turn_speed_rate) void Move::ForLeftward(float speed_rate, float turn_speed_rate)
{ {
Wheel(LEFT_A_WHEEL, FORWARD_ROTATION, turn_speed_rate * speed_rate); Wheel(LEFT_A_WHEEL, FORWARD_ROTATION, turn_speed_rate * speed_rate);
Wheel(LEFT_B_WHEEL, FORWARD_ROTATION, turn_speed_rate * speed_rate); Wheel(LEFT_B_WHEEL, FORWARD_ROTATION, turn_speed_rate * speed_rate);
@ -138,7 +138,7 @@ void Move::ForLeftward(double speed_rate, double turn_speed_rate)
//向前右转 //向前右转
void Move::ForRightward(double speed_rate, double turn_speed_rate) void Move::ForRightward(float speed_rate, float turn_speed_rate)
{ {
Wheel(LEFT_A_WHEEL, FORWARD_ROTATION, speed_rate); Wheel(LEFT_A_WHEEL, FORWARD_ROTATION, speed_rate);
Wheel(LEFT_B_WHEEL, FORWARD_ROTATION, speed_rate); Wheel(LEFT_B_WHEEL, FORWARD_ROTATION, speed_rate);
@ -151,7 +151,7 @@ void Move::ForRightward(double speed_rate, double turn_speed_rate)
//向后左转 //向后左转
void Move::BackLeftward(double speed_rate, double turn_speed_rate) void Move::BackLeftward(float speed_rate, float turn_speed_rate)
{ {
Wheel(LEFT_A_WHEEL, BACKWARD_ROTATION, turn_speed_rate * speed_rate); Wheel(LEFT_A_WHEEL, BACKWARD_ROTATION, turn_speed_rate * speed_rate);
Wheel(LEFT_B_WHEEL, BACKWARD_ROTATION, turn_speed_rate * speed_rate); Wheel(LEFT_B_WHEEL, BACKWARD_ROTATION, turn_speed_rate * speed_rate);
@ -164,7 +164,7 @@ void Move::BackLeftward(double speed_rate, double turn_speed_rate)
//向后右转 //向后右转
void Move::BackRightward(double speed_rate, double turn_speed_rate) void Move::BackRightward(float speed_rate, float turn_speed_rate)
{ {
Wheel(LEFT_A_WHEEL, BACKWARD_ROTATION, speed_rate); Wheel(LEFT_A_WHEEL, BACKWARD_ROTATION, speed_rate);
Wheel(LEFT_B_WHEEL, BACKWARD_ROTATION, speed_rate); Wheel(LEFT_B_WHEEL, BACKWARD_ROTATION, speed_rate);
@ -190,7 +190,7 @@ void Move::Stop(void)
//向某方向运动 //向某方向运动
void Move::MoveDirection(uint8_t direction, double speed_rate, double turn_speed_rate) void Move::MoveDirection(uint8_t direction, float speed_rate, float turn_speed_rate)
{ {
switch (direction) switch (direction)
{ {

26
TaiChi/moveTaiChi.h
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@ -48,29 +48,29 @@ class Move
{ {
public: public:
Move(); Move();
Move(double global_speed_rate); Move(float global_speed_rate);
void SetGlobalSpeedRate(double global_speed_rate); //设置全局速度比率 void SetGlobalSpeedRate(float global_speed_rate); //设置全局速度比率
uint8_t GetCurrentMove(void); //获取当前运动方向 uint8_t GetCurrentMove(void); //获取当前运动方向
double GetCurrentSpeedRate(void); //获取当前运动速度比率 float GetCurrentSpeedRate(void); //获取当前运动速度比率
void Wheel(uint8_t wheel, uint8_t rotation, double speed_rate = 1.0); //控制某个轮子转动 void Wheel(uint8_t wheel, uint8_t rotation, float speed_rate = 1.0); //控制某个轮子转动
void Forward(double speed_rate = 1.0); //前进 void Forward(float speed_rate = 1.0); //前进
void Backward(double speed_rate = 1.0); //后退 void Backward(float speed_rate = 1.0); //后退
void ForLeftward(double speed_rate = 1.0, double turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向前左转 void ForLeftward(float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向前左转
void ForRightward(double speed_rate = 1.0, double turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向前右转 void ForRightward(float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向前右转
void BackLeftward(double speed_rate = 1.0, double turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向后左转 void BackLeftward(float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向后左转
void BackRightward(double speed_rate = 1.0, double turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向后右转 void BackRightward(float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向后右转
void Stop(void); //制动 void Stop(void); //制动
void MoveDirection(uint8_t direction, double speed_rate = 1.0, double turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向某方向运动 void MoveDirection(uint8_t direction, float speed_rate = 1.0, float turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向某方向运动
private: private:
double global_speed_rate; //全局速度比率 float global_speed_rate; //全局速度比率
uint8_t current_move; //当前运动状态 uint8_t current_move; //当前运动状态
double current_speed_rate; //当前运动速度比率 float current_speed_rate; //当前运动速度比率
}; };

12
TaiChi/servoTaiChi.cpp
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@ -71,7 +71,7 @@ void Servo::StopActionGroup(void)
* Return: 无返回 * Return: 无返回
* Others: * Others:
*********************************************************************************/ *********************************************************************************/
void Servo::SetActionGroupSpeed(uint8_t action_num, double speed) void Servo::SetActionGroupSpeed(uint8_t action_num, float speed)
{ {
uint16_t speed_int = (uint16_t)speed; uint16_t speed_int = (uint16_t)speed;
uint8_t buf[7]; uint8_t buf[7];
@ -94,14 +94,14 @@ void Servo::SetActionGroupSpeed(uint8_t action_num, double speed)
* Return: 无返回 * Return: 无返回
* Others: * Others:
*********************************************************************************/ *********************************************************************************/
void Servo::SetAllActionGroupSpeed(double speed) void Servo::SetAllActionGroupSpeed(float speed)
{ {
SetActionGroupSpeed(0xFF, speed); //调用动作组速度设定，组号为0xFF时设置所有组的速度 SetActionGroupSpeed(0xFF, speed); //调用动作组速度设定，组号为0xFF时设置所有组的速度
} }
//恢复初始状态，指定速度 //恢复初始状态，指定速度
void Servo::Reset(double speed) void Servo::Reset(float speed)
{ {
SetActionGroupSpeed(ACTION_RESET_NUM, speed); SetActionGroupSpeed(ACTION_RESET_NUM, speed);
RunActionGroup(ACTION_RESET_NUM, 1); RunActionGroup(ACTION_RESET_NUM, 1);
@ -110,7 +110,7 @@ void Servo::Reset(double speed)
//抓取，指定速度 //抓取，指定速度
void Servo::Catch(double speed) void Servo::Catch(float speed)
{ {
SetActionGroupSpeed(ACTION_CATCH_NUM, speed); SetActionGroupSpeed(ACTION_CATCH_NUM, speed);
RunActionGroup(ACTION_CATCH_NUM, 1); RunActionGroup(ACTION_CATCH_NUM, 1);
@ -119,7 +119,7 @@ void Servo::Catch(double speed)
//释放，指定速度 //释放，指定速度
void Servo::Release(double speed) void Servo::Release(float speed)
{ {
SetActionGroupSpeed(ACTION_RELEASE_NUM, speed); SetActionGroupSpeed(ACTION_RELEASE_NUM, speed);
RunActionGroup(ACTION_RELEASE_NUM, 1); RunActionGroup(ACTION_RELEASE_NUM, 1);
@ -128,7 +128,7 @@ void Servo::Release(double speed)
//停止舵机并恢复初始状态，指定速度 //停止舵机并恢复初始状态，指定速度
void Servo::StopAndReset(double speed) void Servo::StopAndReset(float speed)
{ {
StopActionGroup(); StopActionGroup();
Reset(speed); Reset(speed);

12
TaiChi/servoTaiChi.h
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@ -33,13 +33,13 @@ public:
void RunActionGroup(uint8_t action_num, uint16_t times); void RunActionGroup(uint8_t action_num, uint16_t times);
void StopActionGroup(void); void StopActionGroup(void);
void SetActionGroupSpeed(uint8_t action_num, double speed); void SetActionGroupSpeed(uint8_t action_num, float speed);
void SetAllActionGroupSpeed(double speed); void SetAllActionGroupSpeed(float speed);
void Reset(double speed = SERVO_NORMAL_SPEED); //恢复初始状态，指定速度 void Reset(float speed = SERVO_NORMAL_SPEED); //恢复初始状态，指定速度
void Catch(double speed = SERVO_NORMAL_SPEED); //抓取，指定速度 void Catch(float speed = SERVO_NORMAL_SPEED); //抓取，指定速度
void Release(double speed = SERVO_NORMAL_SPEED); //释放，指定速度 void Release(float speed = SERVO_NORMAL_SPEED); //释放，指定速度
void StopAndReset(double speed = SERVO_NORMAL_SPEED); //停止舵机并恢复初始状态，指定速度 void StopAndReset(float speed = SERVO_NORMAL_SPEED); //停止舵机并恢复初始状态，指定速度
private: private:
HardwareSerial *SerialX; HardwareSerial *SerialX;