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.
52 lines
1.2 KiB
C++
52 lines
1.2 KiB
C++
#pragma once
|
|
#include <Arduino.h>
|
|
|
|
namespace EngineConsts {
|
|
constexpr float GEAR_RATIO[6] = {
|
|
3.31f,
|
|
1.95f,
|
|
1.28f,
|
|
0.97f,
|
|
0.75f,
|
|
-3.66f
|
|
};
|
|
|
|
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
|
|
|
|
constexpr float ENGINE_FORCE_FACTOR = 3000.0f; // N przy maks. RPM i wciśniętym sprzęgle
|
|
constexpr float BRAKE_FORCE_MAX = 5000.0f; // N przy pełnym pedale hamulca
|
|
constexpr float DRAG_COEFF = 0.3f; // Cd
|
|
constexpr float FRONTAL_AREA = 2.2f; // m^2
|
|
}
|
|
|
|
class Engine {
|
|
public:
|
|
Engine(uint8_t throttlePin,
|
|
uint8_t clutchPin,
|
|
uint8_t brakePin);
|
|
|
|
void begin();
|
|
|
|
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;
|
|
const uint8_t _brakePin;
|
|
|
|
float _engineRPM = EngineConsts::RPM_IDLE;
|
|
float _speedMs = 0.0f;
|
|
|
|
float readNormalized(uint8_t pin) const;
|
|
};
|