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motor float->double, angle int->double

master
Tim Zeuner 1 year ago
parent
commit
722898da6d

+ 8
- 8
AutonomousMode/ControlModule/control_module.cpp View File

@@ -4,7 +4,7 @@ ControlModule::ControlModule(): ControlModule(0.0, 1.0, 1.0)
{
}

ControlModule::ControlModule(float maxSpeed, float rotateSpeed, float moveSideSpeed)
ControlModule::ControlModule(double maxSpeed, double rotateSpeed, double moveSideSpeed)
{
motors[0] = 0.0;
motors[1] = 0.0;
@@ -41,15 +41,15 @@ void ControlModule::adjustSpeed(){
};

void ControlModule::moveSide(int imageColumsMiddle, int contourColumsMiddle){
float speed = moveSideSpeed * static_cast<float>(contourColumsMiddle - imageColumsMiddle)/static_cast<float>(imageColumsMiddle);
double speed = moveSideSpeed * static_cast<double>(contourColumsMiddle - imageColumsMiddle)/static_cast<double>(imageColumsMiddle);
motors[0] += speed;
motors[1] -= speed;
motors[2] -= speed;
motors[3] += speed;
}

void ControlModule::rotate(int angle){
float speed = rotateSpeed * (static_cast<float>(angle) + 90.0f)/90.0f;
void ControlModule::rotate(double angle){
double speed = rotateSpeed * (angle + 90.0)/90.0;
motors[0] += speed;
motors[1] -= speed;
motors[2] += speed;
@@ -57,7 +57,7 @@ void ControlModule::rotate(int angle){
}

void ControlModule::unit(){
float max = 1.0E-6;
double max = 1.0E-6;
for(int i = 0; i <= sizeof(motors)/sizeof(int); i++){
if(motors[i] > max)
max = motors[i];
@@ -73,7 +73,7 @@ void ControlModule::unit(){

}

void ControlModule::calcSpeeds(int imageColumsMiddle, int contourColumsMiddle, int angle){
void ControlModule::calcSpeeds(int imageColumsMiddle, int contourColumsMiddle, double angle){
std::unique_lock<std::mutex> lock(mtx);
//moveSide(imageColumsMiddle, contourColumsMiddle);
rotate(angle);
@@ -81,8 +81,8 @@ void ControlModule::calcSpeeds(int imageColumsMiddle, int contourColumsMiddle, i
adjustSpeed();
}

std::vector<float> ControlModule::readMotors()
std::vector<double> ControlModule::readMotors()
{
std::unique_lock<std::mutex> lock(mtx);
return std::vector<float> {motors[0], motors[1], motors[2], motors[3]};
return std::vector<double> {motors[0], motors[1], motors[2], motors[3]};
}

+ 8
- 8
AutonomousMode/ControlModule/control_module.h View File

@@ -7,19 +7,19 @@ class ControlModule
{
private:
mutable std::mutex mtx;
float motors[4]; //LeftFront; RightFront; LeftBack; RightBack
float maxSpeed;
float rotateSpeed;
float moveSideSpeed;
double motors[4]; //LeftFront; RightFront; LeftBack; RightBack
double maxSpeed;
double rotateSpeed;
double moveSideSpeed;
public:
ControlModule(/* args */);
ControlModule(float maxSpeed, float rotateSpeed, float moveSideSpeed);
ControlModule(double maxSpeed, double rotateSpeed, double moveSideSpeed);
~ControlModule();
void adjustSpeed();
void moveSide(int imageColumsMiddle, int contourColumsMiddle);
void rotate(int angle);
void rotate(double angle);
void unit(); //Brings the max Value to 1.0

void calcSpeeds(int imageColumsMiddle, int contourColumsMiddle, int angle); //Funktion to be called
std::vector<float> readMotors();
void calcSpeeds(int imageColumsMiddle, int contourColumsMiddle, double angle); //Funktion to be called
std::vector<double> readMotors();
};

+ 1
- 1
AutonomousMode/lfr.h View File

@@ -22,7 +22,7 @@ struct LFR_Result
cv::Mat rawImage;
cv::Mat processedImage;
FrameData data;
std::vector<float> motorSignals;
std::vector<double> motorSignals;
};

class LFR

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