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.
89 lines
2.1 KiB
Arduino
89 lines
2.1 KiB
Arduino
#include <Wire.h>
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#include "Config.h"
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#include "Display.h"
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#include "Gear.h"
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#include "Sonar.h"
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#include "RFID.h"
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#include "Engine.h"
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Display display;
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GearSelector gear(GEAR_X_PIN, GEAR_Y_PIN, GEAR_THRESH_LOW, GEAR_THRESH_HIGH);
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Sonar sonar(TRIG_AND_ECHO_PIN, SONAR_MAX_DIST_CM);
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RFIDReader rfid(SS_PIN, RST_PIN);
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Engine engine(THROTTLE_PIN, CLUTCH_PIN, BRAKE_PIN);
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unsigned long prevEngineUpdate = 0;
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bool carEnabled = false;
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unsigned long prevSonarUpdate = 0;
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bool seatBelts = false;
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void setup() {
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Serial.begin(9600);
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Serial.println(F("Podaj wagę samochodu w kg (np. 1200):"));
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while (true) {
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if (Serial.available() > 0) {
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float mass = Serial.parseFloat();
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if (mass > 0) {
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engine.setCarMass(mass);
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Serial.print(F("Waga samochodu ustawiona na: "));
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Serial.print(mass);
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Serial.println(F(" kg"));
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break;
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} else {
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Serial.println(F("Niepoprawna wartość, spróbuj ponownie:"));
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}
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}
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}
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pinMode(IN_1, OUTPUT);
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pinMode(IN_2, OUTPUT);
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pinMode(ENA_1, OUTPUT);
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pinMode(IN_3, OUTPUT);
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pinMode(IN_4, OUTPUT);
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pinMode(ENA_2, OUTPUT);
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rfid.begin();
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display.begin(LCD_COLS, LCD_ROWS);
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}
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void loop() {
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if (rfid.check() && rfid.matches(AUTH_UID, AUTH_UID_SIZE)) {
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carEnabled = !carEnabled;
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if (carEnabled)
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Serial.println("Uruchamiam auto");
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else
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Serial.println("Gaszę auto");
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display.startOrEnd(carEnabled);
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};
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if (carEnabled) {
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if (gear.update())
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display.updateGear(gear.getGearChar());
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unsigned long now = millis();
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float dt = (now - prevEngineUpdate) / 1000.0f;
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if (dt >= 0.02f) {
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prevEngineUpdate = now;
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engine.update(dt, gear.getGear());
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display.updateRPM(engine.getRPM());
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display.updateSpeed(engine.getSpeedKmh());
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}
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unsigned long now = millis();
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if (now - prevSonarUpdate >= 100) {
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prevSonarUpdate = now;
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long dist = sonar.measure();
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if (!seatBelts) {
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if (dist < 200) seatBelts = true;
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}
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else {
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if (dist >= 200) seatBelts = false;
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}
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}
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}
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}
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