Revision 1:b794ac1a3aa6, committed 2019-06-05

Comitter:

asaewing

Date:

Wed Jun 05 07:54:02 2019 +0000

Parent:

0:61923a9dd110

Commit message:

1.0

Changed in this revision

--- a/WheelManager.cpp	Fri Dec 21 07:54:10 2018 +0000
+++ b/WheelManager.cpp	Wed Jun 05 07:54:02 2019 +0000
@@ -14,6 +14,10 @@
 
 
 WheelManager::WheelManager() {
+    /*DataStorage::set_PWM_status(1, 0, 0);
+    DataStorage::set_PWM_status(2, 0, 0);
+    DataStorage::set_PWM_status(3, 0, 0);
+    DataStorage::set_PWM_status(4, 0, 0);*/
     DataStorage::_W1_A = 0;
     DataStorage::_W1_B = 0;
         
@@ -28,6 +32,11 @@
 }
 
 WheelManager::WheelManager(std::string tmpTest) {
+    /*DataStorage::set_PWM_status(1, 0, 0);
+    DataStorage::set_PWM_status(2, 0, 0);
+    DataStorage::set_PWM_status(3, 0, 0);
+    DataStorage::set_PWM_status(4, 0, 0);*/
+
     DataStorage::_W1_A = 0;
     DataStorage::_W1_B = 0;
         
@@ -51,18 +60,25 @@
         
         DataStorage::_W4_A = 1;
         DataStorage::_W4_B = 0;
+        
+        //DataStorage::set_PWM_status(1, 0, 1);
+        //DataStorage::set_PWM_status(4, 1, 0);
     } else if (tmpMoveDirection>=13 && tmpMoveDirection<=15 || tmpMoveDirection==0 || tmpMoveDirection==1 || tmpMoveDirection==4 || tmpMoveDirection==11){
         DataStorage::_W1_A = 1;
         DataStorage::_W1_B = 0;
         
         DataStorage::_W4_A = 0;
         DataStorage::_W4_B = 1;
+        //DataStorage::set_PWM_status(1, 1, 0);
+        //DataStorage::set_PWM_status(4, 0, 1);
     } else if (tmpMoveDirection==2 || tmpMoveDirection==10){
         DataStorage::_W1_A = 0;
         DataStorage::_W1_B = 0;
         
         DataStorage::_W4_A = 0;
         DataStorage::_W4_B = 0;
+        //DataStorage::set_PWM_status(1, 0, 0);
+        //DataStorage::set_PWM_status(4, 0, 0);
     }
     
     //W2 W3//
@@ -72,18 +88,24 @@
         
         DataStorage::_W3_A = 1;
         DataStorage::_W3_B = 0;
+        //DataStorage::set_PWM_status(2, 0, 1);
+        //DataStorage::set_PWM_status(3, 1, 0);
     } else if (tmpMoveDirection>=7 && tmpMoveDirection<=11 || tmpMoveDirection==4 || tmpMoveDirection==13){
         DataStorage::_W2_A = 1;
         DataStorage::_W2_B = 0;
         
         DataStorage::_W3_A = 0;
         DataStorage::_W3_B = 1;
+        //DataStorage::set_PWM_status(2, 1, 0);
+        //DataStorage::set_PWM_status(3, 0, 1);
     } else if (tmpMoveDirection==6 || tmpMoveDirection==14){
         DataStorage::_W2_A = 0;
         DataStorage::_W2_B = 0;
         
         DataStorage::_W3_A = 0;
         DataStorage::_W3_B = 0;
+        //DataStorage::set_PWM_status(2, 0, 0);
+        //DataStorage::set_PWM_status(3, 0, 0);
     }
     
     //W1 W2 W3 W4//
@@ -99,6 +121,10 @@
         
         DataStorage::_W4_A = 1;
         DataStorage::_W4_B = 0;
+        /*DataStorage::set_PWM_status(1, 1, 0);
+        DataStorage::set_PWM_status(2, 1, 0);
+        DataStorage::set_PWM_status(3, 1, 0);
+        DataStorage::set_PWM_status(4, 1, 0);*/
     } else if (tmpMoveDirection==17){
         DataStorage::_W1_A = 0;
         DataStorage::_W1_B = 1;
@@ -111,6 +137,10 @@
         
         DataStorage::_W4_A = 0;
         DataStorage::_W4_B = 1;
+        /*DataStorage::set_PWM_status(1, 0, 1);
+        DataStorage::set_PWM_status(2, 0, 1);
+        DataStorage::set_PWM_status(3, 0, 1);
+        DataStorage::set_PWM_status(4, 0, 1);*/
     } else if (tmpMoveDirection==40){
         DataStorage::_W1_A = 0;
         DataStorage::_W1_B = 0;
@@ -123,110 +153,52 @@
         
         DataStorage::_W4_A = 0;
         DataStorage::_W4_B = 0;
+        /*DataStorage::set_PWM_status(1, 0, 0);
+        DataStorage::set_PWM_status(2, 0, 0);
+        DataStorage::set_PWM_status(3, 0, 0);
+        DataStorage::set_PWM_status(4, 0, 0);*/
     }
 }
 
 void WM_pwmControl(DataStorage* tmpDS) {
     printf("### WM pwmControl - Start\r\n");
     
-    /*PwmOut  _W1_P(PD_14);
-    PwmOut  _W2_P(PD_15);
-    PwmOut  _W3_P(PE_12);
-    PwmOut  _W4_P(PE_14);*/
-    
-    //printf("### WM_pwmControl - 01\r\n");
-    //printf("### WM_pwmControl - 01 - 01\r\n");
-    //float tmpPeriod2 = (float)tmp[1]/1000000.0f;
-    //float tmpCycle2 = (float)tmp[2]/100.0f;
-    
-    /*printf("### WM_pwmControl - 01 - 01 - %d\r\n", (*tmpDS).get_testInt1());
-    printf("### WM_pwmControl - 01 - 02 - %d\r\n", (*tmpDS).testInt2);
-    printf("### WM_pwmControl - 01 - 03 - %d\r\n", (*tmpDS).testInt3);
-    printf("### WM_pwmControl - 01 - 04 - %d\r\n", (*tmpDS).WM_PWM[1][0]);
-    printf("### WM_pwmControl - 01 - 05 - %d\r\n", (*tmpDS).WM_PWM[1][1]);*/
     
     float *tmpPeriod2 = new float[4];
     float *tmpWrite2 = new float[4];
-    //{(float)(*tmpDS).WM_PWM[1][0]/1000000.0f, 0.0f, 0.0f, 0.0f};
-    tmpPeriod2[0] = (float)(*tmpDS).WM_PWM[1][0]/1000000.0f;
+    
+    for (int ii=0;ii<4;ii++) {
+        tmpPeriod2[ii] = (float)(*tmpDS).WM_PWM[ii+1][0]/1000000.0f;
+        tmpWrite2[ii] = (float)(*tmpDS).WM_PWM[ii+1][1]/100.0f;
+    }
+    /*tmpPeriod2[0] = (float)(*tmpDS).WM_PWM[1][0]/1000000.0f;
     tmpPeriod2[1] = (float)(*tmpDS).WM_PWM[2][0]/1000000.0f;
     tmpPeriod2[2] = (float)(*tmpDS).WM_PWM[3][0]/1000000.0f;
     tmpPeriod2[3] = (float)(*tmpDS).WM_PWM[4][0]/1000000.0f;
-    //float tmpCycle2 = (float)(*tmpDS).WM_PWM[1][1]/100.0f;
-    //float tmpCycle3 = tmpCycle2+0.2f;
-    
-    //tmpPeriod2[1] = (float)(*tmpDS).WM_PWM[1][1]/100.0f;
-    //tmpPeriod2[2] = tmpPeriod2[1]+0.2f;
     
     tmpWrite2[0] = (float)(*tmpDS).WM_PWM[1][1]/100.0f;
     tmpWrite2[1] = (float)(*tmpDS).WM_PWM[2][1]/100.0f;
     tmpWrite2[2] = (float)(*tmpDS).WM_PWM[3][1]/100.0f;
-    tmpWrite2[3] = (float)(*tmpDS).WM_PWM[4][1]/100.0f;
-    
-    //if (tmpCycle3>1.0f) tmpCycle3=1.0f;
-    //if (tmpPeriod2[2]>1.0f) tmpPeriod2[2]=1.0f;
-    
-    //printf("### WM_pwmControl - 01 - %f\r\n", tmpCycle3);
-    printf("### WM pwmControl - 01 tmpPeriod2- %f; %f; %f; %f;\r\n", tmpPeriod2[0], tmpPeriod2[1], tmpPeriod2[2], tmpPeriod2[3]);
-    printf("### WM pwmControl - 02 tmpWrite2 - %f; %f; %f; %f;\r\n", tmpWrite2[0], tmpWrite2[1], tmpWrite2[2], tmpWrite2[3]);
+    tmpWrite2[3] = (float)(*tmpDS).WM_PWM[4][1]/100.0f;*/
     
-    //printf("### WM_pwmControl - 02\r\n");
-    
-    //PwmOut testPWM(PD_14);
-    //printf("### WM_pwmControl - 03\r\n");
+    printf("### WM pwmControl - 01 tmpPeriod2- %f; %f; %f; %f;\r\n", tmpPeriod2[0], tmpPeriod2[1], tmpPeriod2[2], tmpPeriod2[3]);
     
-    //testPWM.period(tmpPeriod2);
-    //(*tmpPWM).period(tmpPeriod2);
-    
-    //(tmpDS->_WM_PWM_out01).period(tmpPeriod2[0]);
+    //for (int ii=0;ii<4;ii++) tmpDS->set_PWM_period(ii, tmpPeriod2[ii]);
     (tmpDS->_WM_PWM_out01).period(tmpPeriod2[0]);
     (tmpDS->_WM_PWM_out02).period(tmpPeriod2[1]);
     (tmpDS->_WM_PWM_out03).period(tmpPeriod2[2]);
     (tmpDS->_WM_PWM_out04).period(tmpPeriod2[3]);
     
-    //(*(*tmpDS).WM_PWM_out[0]).period(tmpPeriod2);
-    //printf("### WM_pwmControl - 04\r\n");
-    
-    //testPWM.write(tmpCycle2);
-    //(*tmpPWM).write(tmpCycle2);
+    printf("### WM pwmControl - 02 tmpWrite2 - %f; %f; %f; %f;\r\n", tmpWrite2[0], tmpWrite2[1], tmpWrite2[2], tmpWrite2[3]);
     
-    //(tmpDS->_WM_PWM_out01).write(tmpCycle2);
-    //(tmpDS->_WM_PWM_out02).write(tmpCycle3);
-    
-    //(tmpDS->_WM_PWM_out01).write(tmpPeriod2[1]);
-    //(tmpDS->_WM_PWM_out02).write(tmpPeriod2[2]);
+    //for (int ii=0;ii<4;ii++) tmpDS->set_PWM_write(ii, tmpWrite2[ii]);
     (tmpDS->_WM_PWM_out01).write(tmpWrite2[0]);
     (tmpDS->_WM_PWM_out02).write(tmpWrite2[1]);
     (tmpDS->_WM_PWM_out03).write(tmpWrite2[2]);
     (tmpDS->_WM_PWM_out04).write(tmpWrite2[3]);
     
-    //(*(*tmpDS).WM_PWM_out[0]).write(tmpCycle2);
-    //printf("### WM_pwmControl - 05\r\n");
-    /*if (tmp[0]==1){
-        PwmOut  _W_P(PD_14);
-        _W_P.period(tmpPeriod2);
-        _W_P.write(tmpCycle2);
-    
-    } else if (tmp[0]==2){
-        PwmOut  _W_P(PD_15);
-        _W_P.period(tmpPeriod2);
-        _W_P.write(tmpCycle2);
-    
-    } else if (tmp[0]==3){
-        PwmOut  _W_P(PE_12);
-        _W_P.period(tmpPeriod2);
-        _W_P.write(tmpCycle2);
-    
-    } else if (tmp[0]==4){
-        PwmOut  _W_P(PE_14);
-        _W_P.period(tmpPeriod2);
-        _W_P.write(tmpCycle2);
-    }*/
-    
     delete [] tmpPeriod2;
     delete [] tmpWrite2;
-    //delete tmpCycle2;
-    //delete tmpCycle3;
     
     printf("### WM pwmControl - End\r\n");
 }
@@ -287,13 +259,6 @@
 
 void WheelManager::runControl2(DataStorage* tmpDS, int** tmp) {
     printf("### WM runControl2 - Start\r\n");
-    
-    /*PwmOut  _W1_P(PD_14);
-    PwmOut  _W2_P(PD_15);
-    PwmOut  _W3_P(PE_12);
-    PwmOut  _W4_P(PE_14);*/
-    
-    //PwmOut* _W_P[4] = {&_W1_P, &_W2_P, &_W3_P, &_W4_P};
 
     for (int ii=0;ii<5;ii++){
         for (int jj=0;jj<2;jj++){
@@ -301,32 +266,12 @@
         }
     }
     
-    //printf("### runControl - 01 - 01 - %d\r\n", DataStorage::testInt1);
-    //printf("### runControl - 01 - 02 - %d\r\n", DataStorage::testInt2);
-    //printf("### runControl - 01 - 03 - %d\r\n", DataStorage::testInt3);
-    //printf("### runControl - 01 - 01\r\n");
-    
     this->moveDirectionControl(tmp[0][0]);
     
-    //pwmControl(tmp[0], tmp[1], tmp[2]);
-    //printf("### runControl - 01 - 02\r\n");
-    
-    //PwmOut testPWM(PD_14);
-    //printf("### runControl - 02\r\n");
-    //(*tmpThread).terminate();
-    
-    //printf("### runControl - 03\r\n");
-    //(*tmpThread).start(callback(WM_pwmControl, tmpDS));
     WM_pwmControl(tmpDS);
     
     this->moveDirectionControl(tmp[0][0]);
     
-    //printf("### runControl - 04\r\n");
-    //wait(1);
-    
-    //printf("### runControl - 05\r\n");
-    //(*tmpThread).join();
-    
     printf("### WM runControl2 - End\r\n");
 }