Make car mass configurable at runtime

Replace the compile‑time CAR_MASS constant with a runtime‑settable
_member _carMass. Add Engine::setCarMass, default it to 1200 kg, and
use it in the acceleration calculation. Prompt the user for the
car mass on startup via Serial and update the enable/disable messages.

Config.h

@@ -4,16 +4,11 @@
 const int SS_PIN = 10;
 const int RST_PIN = 7;
 
-const byte AUTH_UID[4] = {145, 136, 97, 102};
+const byte AUTH_UID[4] = { 145, 136, 97, 102 };
 const byte AUTH_UID_SIZE = sizeof(AUTH_UID);
 
-// // Kierunkowskazy
-// const int TS_RIGHT = 9;
-// const int TS_LEFT = 8;
-
 // // Odległościomierz
-// const int TRIG_PIN = 6;
-// const int ECHO_PIN = 5;
+const int TRIG_AND_ECHO_PIN = 3;
 
 const long SONAR_MAX_DIST_CM = 400;
 
@@ -34,7 +29,12 @@ const uint8_t BRAKE_PIN = A2;
 const uint8_t THROTTLE_PIN = A3;
 
 // Silniki
+// Prawy silnik
 const int IN_1 = 9;
 const int IN_2 = 8;
+const int ENA_1 = 5;
+
+// Lewy silnik
 const int IN_3 = 4;
-const int IN_4 = 3;
+const int IN_4 = 2;
+const int ENA_2 = 6;

Display.cpp

@@ -2,22 +2,23 @@
 
 void Display::begin(int cols, int rows) {
   _lcd.begin(cols, rows);
-
-  _lcd.createChar(CHAR_LEFT, _leftChar);
-  _lcd.createChar(CHAR_RIGHT, _rightChar);
-  _lcd.createChar(CHAR_LEFT_BLINK, _leftCharBlink);
-  _lcd.createChar(CHAR_RIGHT_BLINK, _rightCharBlink);
+  _lcd.noDisplay();
 
   _lcd.setCursor(0, 0);
   _lcd.print("km/h: 000 | ");
-  _lcd.write((uint8_t)CHAR_LEFT);
-  _lcd.print(" ");
-  _lcd.write((uint8_t)CHAR_RIGHT);
-
   _lcd.setCursor(0, 1);
   _lcd.print("rpm: 0000 | G:0");
 }
 
+void Display::startOrEnd(bool enable) {
+  if (enable) {
+    delay(3000);
+    _lcd.display();
+  } else {
+    _lcd.noDisplay();
+  }
+}
+
 void Display::updateSpeed(int kmh) {
   if (kmh < 0) kmh = 0;
   if (kmh > 999) kmh = 999;
@@ -44,22 +45,3 @@ void Display::updateGear(char gearChar) {
   _lcd.print(gearChar);
   _lcd.print(' ');
 }
-
-// void Display::updateDirection(bool leftOn, bool rightOn) {
-//   if (leftOn && rightOn) {
-//     _lcd.setCursor(12, 0);
-//     _lcd.write((uint8_t)CHAR_LEFT);
-//     _lcd.print(' ');
-//     _lcd.write((uint8_t)CHAR_RIGHT);
-//     return;
-//   }
-
-//   unsigned long now = millis();
-//   bool leftBlink = leftOn && ((now / 1000UL) % 2 == 0);
-//   bool rightBlink = rightOn && ((now / 1000UL) % 2 == 0);
-
-//   _lcd.setCursor(12, 0);
-//   _lcd.write((uint8_t)(leftBlink ? CHAR_LEFT_BLINK : CHAR_LEFT));
-//   _lcd.print(' ');
-//   _lcd.write((uint8_t)(rightBlink ? CHAR_RIGHT_BLINK : CHAR_RIGHT));
-// }

Display.h

@@ -13,19 +13,14 @@ class Display {
 public:
   void begin(int cols, int rows);
 
+  void startOrEnd(bool enable);
+
   void updateSpeed(int kmh);
 
   void updateRPM(int rpm);
 
   void updateGear(char gearChar);
 
-  // void updateDirection(bool leftOn, bool rightOn);
-
 private:
   rgb_lcd _lcd;
-
-  byte _leftChar[8] = { 0x00, 0x04, 0x08, 0x1F, 0x1F, 0x08, 0x04, 0x00 };
-  byte _leftCharBlink[8] = { 0x1F, 0x1B, 0x17, 0x00, 0x00, 0x17, 0x1B, 0x1F };
-  byte _rightChar[8] = { 0x00, 0x04, 0x02, 0x1F, 0x1F, 0x02, 0x04, 0x00 };
-  byte _rightCharBlink[8] = { 0x1F, 0x1B, 0x1D, 0x00, 0x00, 0x1D, 0x1B, 0x1F };
 };

Engine.cpp

@@ -1,4 +1,5 @@
 #include "Engine.h"
+#include "Config.h"
 using namespace EngineConsts;
 
 Engine::Engine(uint8_t throttlePin,
@@ -6,82 +7,41 @@ Engine::Engine(uint8_t throttlePin,
                uint8_t brakePin)
   : _throttlePin(throttlePin), _clutchPin(clutchPin), _brakePin(brakePin) {}
 
-void Engine::begin() {
-}
+void Engine::begin() {}
 
 float Engine::readNormalized(uint8_t pin) const {
   return analogRead(pin) / 1023.0f;
 }
 
 void Engine::update(float dt, uint8_t gearIdx) {
-  // Serial.println("----------------");
-
   const float throttle = readNormalized(_throttlePin);
-  // Serial.print("Throttle: ");
-  // Serial.println(throttle);
-
   const float clutch = readNormalized(_clutchPin);
-  // Serial.print("Clutch: ");
-  // Serial.println(clutch);
-
   const float brake = readNormalized(_brakePin);
-  // Serial.print("Brake: ");
-  // Serial.println(brake);
 
   const float targetRPM = RPM_IDLE + throttle * (RPM_MAX - RPM_IDLE);
-  // Serial.print("targetRPM: ");
-  // Serial.println(targetRPM);
 
   const float wheelRPM = (_speedMs / (2.0f * PI * WHEEL_RADIUS)) * 60.0f;
-  // Serial.print("wheelRPM: ");
-  // Serial.println(wheelRPM);
 
   const float gearRatio = GEAR_RATIO[gearIdx];
-  // Serial.print("gearRatio: ");
-  // Serial.println(gearRatio);
-
   const float drivenRPM = wheelRPM * fabs(gearRatio) * FINAL_DRIVE;
-  // Serial.print("drivenRPM: ");
-  // Serial.println(drivenRPM);
 
   _engineRPM = clutch * drivenRPM + (1.0f - clutch) * targetRPM;
-  // Serial.print("_engineRPM: ");
-  // Serial.println(_engineRPM);
-
   _engineRPM = constrain(_engineRPM, RPM_IDLE, 7500.0f);
-  // Serial.print("_engineRPM (constrain): ");
-  // Serial.println(_engineRPM);
 
   const float engineForce = (_engineRPM / RPM_MAX) * (1.0f - clutch) * ENGINE_FORCE_FACTOR;
-  // Serial.print("engineForce: ");
-  // Serial.println(engineForce);
-
   const float brakeForce = brake * BRAKE_FORCE_MAX;
-  // Serial.print("brakeForce: ");
-  // Serial.println(brakeForce);
-
   const float dragForce = 0.5f * DRAG_COEFF * FRONTAL_AREA * (_speedMs * _speedMs);
-  // Serial.print("dragForce: ");
-  // Serial.println(dragForce);
-
   const int direction = (gearIdx == -1) ? -1 : 1;
-  // Serial.print("direction: ");
-  // Serial.println(direction);
-
   const float netForce = direction * engineForce - brakeForce - dragForce;
-  // Serial.print("netForce: ");
-  // Serial.println(netForce);
-
-  const float acceleration = netForce / CAR_MASS;
-  // Serial.print("acceleration: ");
-  // Serial.println(acceleration);
+  const float acceleration = netForce / _carMass;
 
   _speedMs += acceleration * dt;
   if (_speedMs < 0.0f) _speedMs = 0.0f;
-  // Serial.print("_speedMs: ");
-  // Serial.println(_speedMs);
 
-  // delay(1000);
+  setMotor(IN_3, IN_4, ENA_2, targetRPM, false);
+
+  bool reverseWheel = (gearIdx == -1);
+  setMotor(IN_1, IN_2, ENA_1, wheelRPM * 10.0f, reverseWheel);
 }
 
 int Engine::getRPM() const {
@@ -91,3 +51,16 @@ int Engine::getRPM() const {
 int Engine::getSpeedKmh() const {
   return static_cast<int>((_speedMs * 3.6f) + 0.5f);
 }
+
+uint8_t Engine::rpmToPwm(float rpm) {
+  rpm = constrain(rpm, 0.0f, RPM_MAX);
+  return static_cast<uint8_t>(roundf(rpm / RPM_MAX * 255.0f));
+}
+
+void Engine::setMotor(uint8_t inA, uint8_t inB, uint8_t ena,
+                      float rpm, bool reverse) {
+  digitalWrite(inA, reverse ? LOW : HIGH);
+  digitalWrite(inB, reverse ? HIGH : LOW);
+
+  analogWrite(ena, rpmToPwm(rpm));
+}

Engine.h

@@ -13,7 +13,6 @@ constexpr float GEAR_RATIO[6] = {
 
 constexpr float FINAL_DRIVE = 3.74f;   // przekładnia różnicowa
 constexpr float WHEEL_RADIUS = 0.30f;  // m
-constexpr float CAR_MASS = 1200.0f;    // kg
 constexpr float RPM_IDLE = 800.0f;     // obroty jałowe
 constexpr float RPM_MAX = 7000.0f;     // maksymalne obroty
 
@@ -31,11 +30,16 @@ public:
 
   void begin();
 
+  void setCarMass(float mass) { _carMass = mass; }
+
   void update(float dt, uint8_t gearIdx);
 
   int getRPM() const;
   int getSpeedKmh() const;
 
+  uint8_t rpmToPwm(float rpm);
+  void setMotor(uint8_t inA, uint8_t inB, uint8_t ena, float rpm, bool reverse = false);
+
 private:
   const uint8_t _throttlePin;
   const uint8_t _clutchPin;
@@ -43,6 +47,7 @@ private:
 
   float _engineRPM = EngineConsts::RPM_IDLE;
   float _speedMs = 0.0f;
+  float _carMass = 1200.0f;
 
   float readNormalized(uint8_t pin) const;
 };

Projekt.ino

@@ -1,67 +0,0 @@
-#include <Wire.h>
-
-#include "Config.h"
-#include "Display.h"
-#include "Gear.h"
-// #include "Sonar.h"
-#include "RFID.h"
-#include "Engine.h"
-
-Display display;
-GearSelector gear(GEAR_X_PIN, GEAR_Y_PIN, GEAR_THRESH_LOW, GEAR_THRESH_HIGH);
-// Sonar sonar(TRIG_PIN, ECHO_PIN, SONAR_MAX_DIST_CM);
-RFIDReader rfid(SS_PIN, RST_PIN);
-Engine engine(THROTTLE_PIN, CLUTCH_PIN, BRAKE_PIN);
-
-unsigned long prevUpdate = 0;
-
-bool carEnabled = false;
-
-void setup() {
-  Serial.begin(9600);
-
-  // pinMode(TS_LEFT, INPUT);
-  // pinMode(TS_RIGHT, INPUT);
-
-  pinMode(IN_1, OUTPUT);
-  pinMode(IN_2, OUTPUT);
-
-  rfid.begin();
-  display.begin(LCD_COLS, LCD_ROWS);
-  engine.begin();
-}
-
-void loop() {
-  bool check = rfid.check();
-  bool matches = rfid.matches(AUTH_UID, AUTH_UID_SIZE);
-
-  bool rfidOk = check && matches;
-
-  if (rfid.check() && rfid.matches(AUTH_UID, AUTH_UID_SIZE)) {
-    delay(3000);
-    carEnabled = !carEnabled;
-  };
-
-  if (carEnabled) {
-    Serial.println("Działa");
-
-    if (gear.update())
-      display.updateGear(gear.getGearChar());
-
-    // display.updateDirection(
-    //   digitalRead(TS_LEFT),
-    //   digitalRead(TS_RIGHT));
-
-    unsigned long now = millis();
-    float dt = (now - prevUpdate) / 1000.0f;
-    if (dt >= 0.02f) {
-      prevUpdate = now;
-      engine.update(dt, gear.getGear());
-      display.updateRPM(engine.getRPM());
-      display.updateSpeed(engine.getSpeedKmh());
-    }
-
-    // long dist = sonar.measure();
-    // Serial.println(dist);
-  }
-}

Projekt_Arduino.ino

@@ -0,0 +1,98 @@
+#include <Wire.h>
+
+#include "Config.h"
+#include "Display.h"
+#include "Gear.h"
+#include "Sonar.h"
+#include "RFID.h"
+#include "Engine.h"
+
+Display display;
+GearSelector gear(GEAR_X_PIN, GEAR_Y_PIN, GEAR_THRESH_LOW, GEAR_THRESH_HIGH);
+Sonar sonar(TRIG_AND_ECHO_PIN, SONAR_MAX_DIST_CM);
+RFIDReader rfid(SS_PIN, RST_PIN);
+Engine engine(THROTTLE_PIN, CLUTCH_PIN, BRAKE_PIN);
+
+unsigned long prevUpdate = 0;
+bool carEnabled = false;
+unsigned long prevSonarUpdate = 0;
+bool seatBelts = false;
+
+void setup() {
+  Serial.begin(9600);
+
+    // -----------------------------------------------------------------
+    // 1. Ask the user for the car mass (kg) via the Serial monitor.
+    //    We block only until a valid number is received – this is OK
+    //    because it happens once at startup.
+    // -----------------------------------------------------------------
+    Serial.println(F("Enter car mass in kg (e.g. 1200):"));
+    while (true) {
+      // Wait until something is typed
+      if (Serial.available() > 0) {
+        float mass = Serial.parseFloat();          // reads the number
+        if (mass > 0) {                            // basic sanity check
+          engine.setCarMass(mass);
+          Serial.print(F("Car mass set to "));
+          Serial.print(mass);
+          Serial.println(F(" kg"));
+          break;
+        } else {
+          Serial.println(F("Invalid value – try again:"));
+        }
+      }
+    }
+
+
+  pinMode(IN_1, OUTPUT);
+  pinMode(IN_2, OUTPUT);
+  pinMode(ENA_1, OUTPUT);
+  pinMode(IN_3, OUTPUT);
+  pinMode(IN_4, OUTPUT);
+  pinMode(ENA_2, OUTPUT);
+
+  rfid.begin();
+  display.begin(LCD_COLS, LCD_ROWS);
+  engine.begin();
+}
+
+void loop() {
+  bool check = rfid.check();
+  bool matches = rfid.matches(AUTH_UID, AUTH_UID_SIZE);
+
+  bool rfidOk = check && matches;
+
+  if (rfid.check() && rfid.matches(AUTH_UID, AUTH_UID_SIZE)) {
+    carEnabled = !carEnabled;
+
+    if (carEnabled)
+      Serial.println("Uruchamiam auto");
+    else
+      Serial.println("Gaszę auto");
+
+    display.startOrEnd(carEnabled);
+  };
+
+  if (carEnabled) {
+    if (gear.update())
+      display.updateGear(gear.getGearChar());
+
+    unsigned long now = millis();
+    float dt = (now - prevUpdate) / 1000.0f;
+    if (dt >= 0.02f) {
+      prevUpdate = now;
+      engine.update(dt, gear.getGear());
+      display.updateRPM(engine.getRPM());
+      display.updateSpeed(engine.getSpeedKmh());
+    }
+
+    if (millis() - prevSonarUpdate >= 100) {
+      prevSonarUpdate = millis();
+      long dist = sonar.measure();
+      if (!seatBelts)
+        if (dist < 200)
+          seatBelts = true;
+        else if (dist >= 200) seatBelts = true;
+    }
+  }
+}

Sonar.cpp

@@ -1,21 +1,26 @@
 #include "Sonar.h"
 
-Sonar::Sonar(int trigPin, int echoPin, long maxDistCm)
-  : _trigPin(trigPin), _echoPin(echoPin),
-    _maxDistCm(maxDistCm), _lastDistance(0) {
-  pinMode(_trigPin, OUTPUT);
-  pinMode(_echoPin, INPUT);
+Sonar::Sonar(int sharedPin, long maxDistCm)
+  : _trigPin(sharedPin),
+    _echoPin(sharedPin),
+    _singlePinMode(true),
+    _maxDistCm(maxDistCm),
+    _lastDistance(0) {
 }
 
 long Sonar::measure() {
-  digitalWrite(_trigPin, LOW);
-  delayMicroseconds(2);
-  digitalWrite(_trigPin, HIGH);
-  delayMicroseconds(10);
-  digitalWrite(_trigPin, LOW);
+  if (_singlePinMode) {
+    _lastDistance = _measureSinglePin();
+  } else {
+    digitalWrite(_trigPin, LOW);
+    delayMicroseconds(2);
+    digitalWrite(_trigPin, HIGH);
+    delayMicroseconds(10);
+    digitalWrite(_trigPin, LOW);
 
-  long duration = pulseIn(_echoPin, HIGH);
-  _lastDistance = duration / 58;
+    long duration = pulseIn(_echoPin, HIGH, 30000UL);
+    _lastDistance = duration / 58;
+  }
 
   if (_lastDistance > _maxDistCm) {
     _lastDistance = _maxDistCm;
@@ -24,6 +29,24 @@ long Sonar::measure() {
   return _lastDistance;
 }
 
+long Sonar::_measureSinglePin() {
+  pinMode(_trigPin, OUTPUT);
+  digitalWrite(_trigPin, LOW);
+  delayMicroseconds(4);
+
+  digitalWrite(_trigPin, HIGH);
+  delayMicroseconds(10);
+  digitalWrite(_trigPin, LOW);
+
+  pinMode(_echoPin, INPUT);
+
+  delayMicroseconds(15);
+
+  long duration = pulseIn(_echoPin, HIGH, 30000UL);
+
+  return duration / 58;
+}
+
 long Sonar::getDistance() const {
   return _lastDistance;
 }

Sonar.h

@@ -3,7 +3,7 @@
 
 class Sonar {
 public:
-  Sonar(int trigPin, int echoPin, long maxDistCm = 400);
+  Sonar(int sharedPin, long maxDistCm = 400);
 
   long measure();
 
@@ -12,6 +12,9 @@ public:
 private:
   int _trigPin;
   int _echoPin;
+  bool _singlePinMode;
   long _maxDistCm;
   long _lastDistance;
+
+  long _measureSinglePin();
 };