GarandPLG
1f849e3455
Removed the empty Engine::begin() method and its declaration. Moved getRPM, getSpeedKmh, rpmToPwm, and setMotor implementations to the top of Engine.cpp and deleted their duplicate definitions at the bottom. Fixed wheel motor PWM calculation by using the raw wheelRPM instead of wheelRPM * 10.0f. Deleted the call to engine.begin() in the Arduino setup.
52 lines
1.3 KiB
C++
52 lines
1.3 KiB
C++
#pragma once
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#include <Arduino.h>
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namespace EngineConsts {
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constexpr float GEAR_RATIO[6] = {
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3.31f,
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1.95f,
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1.28f,
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0.97f,
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0.75f,
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-3.66f
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};
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constexpr float FINAL_DRIVE = 3.74f; // przekładnia różnicowa
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constexpr float WHEEL_RADIUS = 0.30f; // m
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constexpr float RPM_IDLE = 800.0f; // obroty jałowe
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constexpr float RPM_MAX = 7000.0f; // maksymalne obroty
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constexpr float ENGINE_FORCE_FACTOR = 3000.0f; // N przy maks. RPM i wciśniętym sprzęgle
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constexpr float BRAKE_FORCE_MAX = 5000.0f; // N przy pełnym pedale hamulca
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constexpr float DRAG_COEFF = 0.3f; // Cd
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constexpr float FRONTAL_AREA = 2.2f; // m^2
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}
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class Engine {
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public:
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Engine(uint8_t throttlePin,
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uint8_t clutchPin,
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uint8_t brakePin);
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void setCarMass(float mass) { _carMass = mass; }
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void update(float dt, uint8_t gearIdx);
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int getRPM() const;
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int getSpeedKmh() const;
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uint8_t rpmToPwm(float rpm);
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void setMotor(uint8_t inA, uint8_t inB, uint8_t ena, float rpm, bool reverse = false);
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private:
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const uint8_t _throttlePin;
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const uint8_t _clutchPin;
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const uint8_t _brakePin;
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float _engineRPM = EngineConsts::RPM_IDLE;
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float _speedMs = 0.0f;
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float _carMass = 1200.0f;
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float readNormalized(uint8_t pin) const;
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};
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