GarandPLG
23d5003788
Introduce ENA pins for both motors and implement rpmToPwm and setMotor. Replace extensive Serial debug prints with concise motor‑drive logic in Engine::update. Consolidate sonar pins into a single TRIG_AND_ECHO_PIN. Update pinMode calls in the sketch to configure the new ENA pins.
67 lines
2.1 KiB
C++
67 lines
2.1 KiB
C++
#include "Engine.h"
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#include "Config.h"
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using namespace EngineConsts;
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Engine::Engine(uint8_t throttlePin,
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uint8_t clutchPin,
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uint8_t brakePin)
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: _throttlePin(throttlePin), _clutchPin(clutchPin), _brakePin(brakePin) {}
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void Engine::begin() {}
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float Engine::readNormalized(uint8_t pin) const {
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return analogRead(pin) / 1023.0f;
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}
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void Engine::update(float dt, uint8_t gearIdx) {
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const float throttle = readNormalized(_throttlePin);
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const float clutch = readNormalized(_clutchPin);
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const float brake = readNormalized(_brakePin);
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const float targetRPM = RPM_IDLE + throttle * (RPM_MAX - RPM_IDLE);
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const float wheelRPM = (_speedMs / (2.0f * PI * WHEEL_RADIUS)) * 60.0f;
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const float gearRatio = GEAR_RATIO[gearIdx];
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const float drivenRPM = wheelRPM * fabs(gearRatio) * FINAL_DRIVE;
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_engineRPM = clutch * drivenRPM + (1.0f - clutch) * targetRPM;
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_engineRPM = constrain(_engineRPM, RPM_IDLE, 7500.0f);
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const float engineForce = (_engineRPM / RPM_MAX) * (1.0f - clutch) * ENGINE_FORCE_FACTOR;
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const float brakeForce = brake * BRAKE_FORCE_MAX;
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const float dragForce = 0.5f * DRAG_COEFF * FRONTAL_AREA * (_speedMs * _speedMs);
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const int direction = (gearIdx == -1) ? -1 : 1;
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const float netForce = direction * engineForce - brakeForce - dragForce;
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const float acceleration = netForce / CAR_MASS;
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_speedMs += acceleration * dt;
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if (_speedMs < 0.0f) _speedMs = 0.0f;
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setMotor(IN_3, IN_4, ENA_2, targetRPM, false);
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bool reverseWheel = (gearIdx == -1);
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setMotor(IN_1, IN_2, ENA_1, wheelRPM * 10.0f, reverseWheel);
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}
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int Engine::getRPM() const {
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return static_cast<int>(_engineRPM + 0.5f);
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}
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int Engine::getSpeedKmh() const {
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return static_cast<int>((_speedMs * 3.6f) + 0.5f);
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}
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uint8_t Engine::rpmToPwm(float rpm) {
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rpm = constrain(rpm, 0.0f, RPM_MAX);
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return static_cast<uint8_t>(roundf(rpm / RPM_MAX * 255.0f));
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}
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void Engine::setMotor(uint8_t inA, uint8_t inB, uint8_t ena,
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float rpm, bool reverse) {
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digitalWrite(inA, reverse ? LOW : HIGH);
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digitalWrite(inB, reverse ? HIGH : LOW);
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analogWrite(ena, rpmToPwm(rpm));
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}
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