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增加当前转向时一侧减速的比率记录

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This commit is contained in:
lxbpxylps@126.com 2021-03-10 23:36:24 +08:00
parent f3f374716a
commit ac981b51b3
2 changed files with 23 additions and 10 deletions
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29
TaiChi/moveTaiChi.cpp
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@ -6,7 +6,7 @@
Move::Move() Move::Move()
{ {
global_speed_rate = DEFAULT_GLOBAL_SPEED_RATE; global_speed_rate = DEFAULT_GLOBAL_SPEED_RATE;
current_move = STOP; current_direction = STOP;
current_speed_rate = 0.0; current_speed_rate = 0.0;
} }
@ -29,7 +29,7 @@ void Move::SetGlobalSpeedRate(float global_speed_rate)
//获取当前运动方向 //获取当前运动方向
uint8_t Move::GetCurrentMove(void) uint8_t Move::GetCurrentMove(void)
{ {
return current_move; return current_direction;
} }
@ -40,6 +40,13 @@ float Move::GetCurrentSpeedRate(void)
} }
//获取当前转向时一侧减速的比率
float Move::GetCurrentTurnSpeedRate(void)
{
return current_turn_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, float speed_rate) void Move::Wheel(uint8_t wheel, uint8_t rotation, float speed_rate)
{ {
@ -106,7 +113,7 @@ void Move::Forward(float 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 = FORWARD; current_direction = FORWARD;
current_speed_rate = speed_rate; current_speed_rate = speed_rate;
#ifdef MOVE_DEBUG #ifdef MOVE_DEBUG
@ -125,7 +132,7 @@ void Move::Backward(float 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 = BACKWARD; current_direction = BACKWARD;
current_speed_rate = speed_rate; current_speed_rate = speed_rate;
#ifdef MOVE_DEBUG #ifdef MOVE_DEBUG
@ -144,8 +151,9 @@ void Move::ForLeftward(float speed_rate, float turn_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_direction = FORLEFTWARD;
current_speed_rate = speed_rate; current_speed_rate = speed_rate;
current_turn_speed_rate = turn_speed_rate;
#ifdef MOVE_DEBUG #ifdef MOVE_DEBUG
//调试输出向前左转状态 //调试输出向前左转状态
@ -163,8 +171,9 @@ void Move::ForRightward(float speed_rate, float turn_speed_rate)
Wheel(RIGHT_A_WHEEL, FORWARD_ROTATION, turn_speed_rate * speed_rate); Wheel(RIGHT_A_WHEEL, FORWARD_ROTATION, turn_speed_rate * speed_rate);
Wheel(RIGHT_B_WHEEL, FORWARD_ROTATION, turn_speed_rate * speed_rate); Wheel(RIGHT_B_WHEEL, FORWARD_ROTATION, turn_speed_rate * speed_rate);
current_move = FORRIGHTWARD; current_direction = FORRIGHTWARD;
current_speed_rate = speed_rate; current_speed_rate = speed_rate;
current_turn_speed_rate = turn_speed_rate;
#ifdef MOVE_DEBUG #ifdef MOVE_DEBUG
//调试输出向前右转状态 //调试输出向前右转状态
@ -182,8 +191,9 @@ void Move::BackLeftward(float speed_rate, float turn_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_direction = BACKLEFTWARD;
current_speed_rate = speed_rate; current_speed_rate = speed_rate;
current_turn_speed_rate = turn_speed_rate;
#ifdef MOVE_DEBUG #ifdef MOVE_DEBUG
//调试输出向后左转状态 //调试输出向后左转状态
@ -201,8 +211,9 @@ void Move::BackRightward(float speed_rate, float turn_speed_rate)
Wheel(RIGHT_A_WHEEL, BACKWARD_ROTATION, turn_speed_rate * speed_rate); Wheel(RIGHT_A_WHEEL, BACKWARD_ROTATION, turn_speed_rate * speed_rate);
Wheel(RIGHT_B_WHEEL, BACKWARD_ROTATION, turn_speed_rate * speed_rate); Wheel(RIGHT_B_WHEEL, BACKWARD_ROTATION, turn_speed_rate * speed_rate);
current_move = BACKRIGHTWARD; current_direction = BACKRIGHTWARD;
current_speed_rate = speed_rate; current_speed_rate = speed_rate;
current_turn_speed_rate = turn_speed_rate;
#ifdef MOVE_DEBUG #ifdef MOVE_DEBUG
//调试输出向后右转状态 //调试输出向后右转状态
@ -220,7 +231,7 @@ void Move::Stop(void)
Wheel(RIGHT_A_WHEEL, STOP_ROTATION); Wheel(RIGHT_A_WHEEL, STOP_ROTATION);
Wheel(RIGHT_B_WHEEL, STOP_ROTATION); Wheel(RIGHT_B_WHEEL, STOP_ROTATION);
current_move = STOP; current_direction = STOP;
current_speed_rate = 0; current_speed_rate = 0;
#ifdef MOVE_DEBUG #ifdef MOVE_DEBUG

4
TaiChi/moveTaiChi.h
View File

@ -59,6 +59,7 @@ public:
uint8_t GetCurrentMove(void); //获取当前运动方向 uint8_t GetCurrentMove(void); //获取当前运动方向
float 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
float GetCurrentTurnSpeedRate(void); //获取当前转向时一侧减速的比率
void Wheel(uint8_t wheel, uint8_t rotation, float 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
@ -74,8 +75,9 @@ public:
private: private:
float 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_direction; //当前运动状态
float current_speed_rate; //当前运动速度比率 float current_speed_rate; //当前运动速度比率
float current_turn_speed_rate; //当前转向时一侧减速的比率
}; };