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更新 move 库

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This commit is contained in:
lxbpxylps@126.com 2021-02-14 12:40:23 +08:00
parent 295951b6e3
commit 575b6cefaf
2 changed files with 63 additions and 45 deletions
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68
TaiChi/moveTaiChi.cpp
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@ -7,11 +7,11 @@ Move::Move()
{ {
global_speed_rate = DEFAULT_GLOBAL_SPEED_RATE; global_speed_rate = DEFAULT_GLOBAL_SPEED_RATE;
current_move = STOP; current_move = STOP;
current_speed_rate = 0; current_speed_rate = 0.0;
} }
Move::Move(int global_speed_rate) Move::Move(double global_speed_rate)
{ {
Move(); Move();
@ -20,7 +20,7 @@ Move::Move(int global_speed_rate)
//设置全局速度比率 //设置全局速度比率
void Move::SetGlobalSpeedRate(int global_speed_rate) void Move::SetGlobalSpeedRate(double 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
int Move::GetCurrentSpeedRate(void) double 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, int speed_rate) void Move::Wheel(uint8_t wheel, uint8_t rotation, double speed_rate)
{ {
uint8_t pin_in1, pin_in2, pin_ena; uint8_t pin_in1, pin_in2, pin_ena;
@ -83,7 +83,7 @@ void Move::Wheel(uint8_t wheel, uint8_t rotation, int speed_rate)
return; //结束函数 return; //结束函数
} }
analogWrite(pin_ena, speed_rate * global_speed_rate * 255.0 / 10000.0); //设置 PWM 波，即转速 analogWrite(pin_ena, speed_rate * global_speed_rate * 255.0); //设置 PWM 波，即转速
if (rotation == FORWARD_ROTATION) //向前转动 if (rotation == FORWARD_ROTATION) //向前转动
{ {
@ -99,7 +99,7 @@ void Move::Wheel(uint8_t wheel, uint8_t rotation, int speed_rate)
//前进 //前进
void Move::Forward(int speed_rate) void Move::Forward(double 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);
@ -107,12 +107,12 @@ void Move::Forward(int speed_rate)
Wheel(RIGHT_B_WHEEL, FORWARD_ROTATION, speed_rate); Wheel(RIGHT_B_WHEEL, FORWARD_ROTATION, speed_rate);
current_move = FORWARD; current_move = FORWARD;
current_speed_rate = speed_rate * global_speed_rate / 100.0; current_speed_rate = speed_rate;
} }
//后退 //后退
void Move::Backward(int speed_rate) void Move::Backward(double 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);
@ -120,59 +120,59 @@ void Move::Backward(int speed_rate)
Wheel(RIGHT_B_WHEEL, BACKWARD_ROTATION, speed_rate); Wheel(RIGHT_B_WHEEL, BACKWARD_ROTATION, speed_rate);
current_move = BACKWARD; current_move = BACKWARD;
current_speed_rate = speed_rate * global_speed_rate / 100.0; current_speed_rate = speed_rate;
} }
//向前左转 //向前左转
void Move::ForLeftward(int speed_rate) void Move::ForLeftward(double speed_rate, double turn_speed_rate)
{ {
Wheel(LEFT_A_WHEEL, FORWARD_ROTATION, TRUN_SPEED_RATE * speed_rate / 100.0); Wheel(LEFT_A_WHEEL, FORWARD_ROTATION, turn_speed_rate * speed_rate);
Wheel(LEFT_B_WHEEL, FORWARD_ROTATION, TRUN_SPEED_RATE * speed_rate / 100.0); Wheel(LEFT_B_WHEEL, FORWARD_ROTATION, turn_speed_rate * speed_rate);
Wheel(RIGHT_A_WHEEL, FORWARD_ROTATION, speed_rate); Wheel(RIGHT_A_WHEEL, FORWARD_ROTATION, speed_rate);
Wheel(RIGHT_B_WHEEL, FORWARD_ROTATION, speed_rate); Wheel(RIGHT_B_WHEEL, FORWARD_ROTATION, speed_rate);
current_move = FORLEFTWARD; current_move = FORLEFTWARD;
current_speed_rate = speed_rate * global_speed_rate / 100.0; current_speed_rate = speed_rate;
} }
//向前右转 //向前右转
void Move::ForRightward(int speed_rate) void Move::ForRightward(double speed_rate, double 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);
Wheel(RIGHT_A_WHEEL, FORWARD_ROTATION, TRUN_SPEED_RATE * speed_rate / 100.0); Wheel(RIGHT_A_WHEEL, FORWARD_ROTATION, turn_speed_rate * speed_rate);
Wheel(RIGHT_B_WHEEL, FORWARD_ROTATION, TRUN_SPEED_RATE * speed_rate / 100.0); Wheel(RIGHT_B_WHEEL, FORWARD_ROTATION, turn_speed_rate * speed_rate);
current_move = FORRIGHTWARD; current_move = FORRIGHTWARD;
current_speed_rate = speed_rate * global_speed_rate / 100.0; current_speed_rate = speed_rate;
} }
//向后左转 //向后左转
void Move::BackLeftward(int speed_rate) void Move::BackLeftward(double speed_rate, double turn_speed_rate)
{ {
Wheel(LEFT_A_WHEEL, BACKWARD_ROTATION, TRUN_SPEED_RATE * speed_rate / 100.0); Wheel(LEFT_A_WHEEL, BACKWARD_ROTATION, turn_speed_rate * speed_rate);
Wheel(LEFT_B_WHEEL, BACKWARD_ROTATION, TRUN_SPEED_RATE * speed_rate / 100.0); Wheel(LEFT_B_WHEEL, BACKWARD_ROTATION, turn_speed_rate * speed_rate);
Wheel(RIGHT_A_WHEEL, BACKWARD_ROTATION, speed_rate); Wheel(RIGHT_A_WHEEL, BACKWARD_ROTATION, speed_rate);
Wheel(RIGHT_B_WHEEL, BACKWARD_ROTATION, speed_rate); Wheel(RIGHT_B_WHEEL, BACKWARD_ROTATION, speed_rate);
current_move = BACKLEFTWARD; current_move = BACKLEFTWARD;
current_speed_rate = speed_rate * global_speed_rate / 100.0; current_speed_rate = speed_rate;
} }
//向后右转 //向后右转
void Move::BackRightward(int speed_rate) void Move::BackRightward(double speed_rate, double 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);
Wheel(RIGHT_A_WHEEL, BACKWARD_ROTATION, TRUN_SPEED_RATE * speed_rate / 100.0); Wheel(RIGHT_A_WHEEL, BACKWARD_ROTATION, turn_speed_rate * speed_rate);
Wheel(RIGHT_B_WHEEL, BACKWARD_ROTATION, TRUN_SPEED_RATE * speed_rate / 100.0); Wheel(RIGHT_B_WHEEL, BACKWARD_ROTATION, turn_speed_rate * speed_rate);
current_move = BACKRIGHTWARD; current_move = BACKRIGHTWARD;
current_speed_rate = speed_rate * global_speed_rate / 100.0; current_speed_rate = speed_rate;
} }
@ -187,3 +187,19 @@ void Move::Stop(void)
current_move = STOP; current_move = STOP;
current_speed_rate = 0; current_speed_rate = 0;
} }
//向某方向运动
void Move::MoveDirection(uint8_t direction, double speed_rate, double turn_speed_rate)
{
switch (direction)
{
case FORWARD: Forward(speed_rate); break;
case BACKWARD: Backward(speed_rate); break;
case FORLEFTWARD: ForLeftward(speed_rate, turn_speed_rate); break;
case FORRIGHTWARD: ForRightward(speed_rate, turn_speed_rate); break;
case BACKLEFTWARD: BackLeftward(speed_rate, turn_speed_rate); break;
case BACKRIGHTWARD: BackRightward(speed_rate, turn_speed_rate); break;
case STOP: Stop();
}
}

40
TaiChi/moveTaiChi.h
View File

@ -10,22 +10,22 @@
//轮胎旋转方向定义，包括停止 //轮胎旋转方向定义，包括停止
#define FORWARD_ROTATION 0 #define FORWARD_ROTATION 0
#define BACKWARD_ROTATION 1 #define BACKWARD_ROTATION 1
#define STOP_ROTATION 3 #define STOP_ROTATION 6
//运动状态定义 //运动方向、状态定义，与轮胎旋转方向定义兼容
#define FORWARD 0 #define FORWARD 0
#define BACKWARD 1 #define BACKWARD 1
#define FORLEFTWARD 2 #define FORLEFTWARD 2
#define BACKLEFTWARD 3 #define FORRIGHTWARD 3
#define FORRIGHTWARD 4 #define BACKLEFTWARD 4
#define BACKRIGHTWARD 5 #define BACKRIGHTWARD 5
#define STOP 6 #define STOP 6
//默认全局速度比率 //默认全局速度比率
#define DEFAULT_GLOBAL_SPEED_RATE 100 #define DEFAULT_GLOBAL_SPEED_RATE 1.0
//转向时一侧减速的比率 //默认转向时一侧减速的比率
#define TRUN_SPEED_RATE 50 #define DEFAULT_TRUN_SPEED_RATE 0.5
//左侧 L298N 接口定义 //左侧 L298N 接口定义
#define LEFT_L298N_IN1 22 #define LEFT_L298N_IN1 22
@ -48,27 +48,29 @@ class Move
{ {
public: public:
Move(); Move();
Move(int global_speed_rate); Move(double global_speed_rate);
void SetGlobalSpeedRate(int global_speed_rate); //设置全局速度比率 void SetGlobalSpeedRate(double 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
int GetCurrentSpeedRate(void); //获取当前运动速度比率 double GetCurrentSpeedRate(void); //获取当前运动速度比率
void Wheel(uint8_t wheel, uint8_t rotation, int speed_rate = 100); //控制某个轮子转动 void Wheel(uint8_t wheel, uint8_t rotation, double speed_rate = 1.0); //控制某个轮子转动
void Forward(int speed_rate = 100); //前进 void Forward(double speed_rate = 1.0); //前进
void Backward(int speed_rate = 100); //后退 void Backward(double speed_rate = 1.0); //后退
void ForLeftward(int speed_rate = 100); //向前左转 void ForLeftward(double speed_rate = 1.0, double turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向前左转
void ForRightward(int speed_rate = 100); //向前右转 void ForRightward(double speed_rate = 1.0, double turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向前右转
void BackLeftward(int speed_rate = 100); //向后左转 void BackLeftward(double speed_rate = 1.0, double turn_speed_rate = DEFAULT_TRUN_SPEED_RATE); //向后左转
void BackRightward(int speed_rate = 100); //向后右转 void BackRightward(double speed_rate = 1.0, double 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
private: private:
int global_speed_rate; //全局速度比率 double 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
int current_speed_rate; //当前运动速度比率 double current_speed_rate; //当前运动速度比率
}; };