aka-sg2002/motor.cpp at master · chenlongos/aka-sg2002 · GitHub

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
#include "motor.hpp"
#include <fstream>
#include <iostream>
#include <unistd.h>

Motor::Motor() {
    init_pwm(LEFT_WHEEL_BACKWARD);
    init_pwm(LEFT_WHEEL_FORWARD);
    init_pwm(RIGHT_WHEEL_BACKWARD);
    init_pwm(RIGHT_WHEEL_FORWARD);
}

Motor::~Motor() {
    standby();
}

void Motor::init_pwm(int pwm_id) {
    std::ofstream ofs_export(PWM_PATH + "export");
    if (ofs_export.is_open()) {
        ofs_export << pwm_id;
        ofs_export.close();
    }

    std::string pwm_channel_path = PWM_PATH + "pwm" + std::to_string(pwm_id);

    std::ofstream ofs_period(pwm_channel_path + "/period");
    if (ofs_period.is_open()) {
        ofs_period << PERIOD;
        ofs_period.close();
    }
}

void Motor::set_pwm_duty_cycle(int pwm_id, int duty_cycle) {
    std::string duty_cycle_path = PWM_PATH + "pwm" + std::to_string(pwm_id) + "/duty_cycle";
    std::ofstream ofs(duty_cycle_path);
    if (ofs.is_open()) {
        ofs << duty_cycle;
        ofs.close();
    }
}

void Motor::set_pwm_enable(int pwm_id, bool enable) {
    std::string enable_path = PWM_PATH + "pwm" + std::to_string(pwm_id) + "/enable";
    std::ofstream ofs(enable_path);
    if (ofs.is_open()) {
        ofs << (enable ? "1" : "0");
        ofs.close();
    }
}

void Motor::set_speed(int pwm_id, int speed) {
    if (speed < 0)
        speed = 0;
    if (speed > 100)
        speed = 100;
    int duty_cycle = PERIOD - (speed / 100.0) * PERIOD;
    set_pwm_duty_cycle(pwm_id, duty_cycle);
}

void Motor::forward(int speed) {
    set_speed(LEFT_WHEEL_FORWARD, speed);
    set_pwm_enable(LEFT_WHEEL_FORWARD, true);
    set_pwm_enable(LEFT_WHEEL_BACKWARD, false);

    set_speed(RIGHT_WHEEL_FORWARD, speed);
    set_pwm_enable(RIGHT_WHEEL_FORWARD, true);
    set_pwm_enable(RIGHT_WHEEL_BACKWARD, false);
}

void Motor::backward(int speed) {
    set_speed(LEFT_WHEEL_BACKWARD, speed);
    set_pwm_enable(LEFT_WHEEL_BACKWARD, true);
    set_pwm_enable(LEFT_WHEEL_FORWARD, false);

    set_speed(RIGHT_WHEEL_BACKWARD, speed);
    set_pwm_enable(RIGHT_WHEEL_BACKWARD, true);
    set_pwm_enable(RIGHT_WHEEL_FORWARD, false);
}

void Motor::left(int speed) {
    set_speed(RIGHT_WHEEL_FORWARD, speed);
    set_pwm_enable(RIGHT_WHEEL_FORWARD, true);
    set_pwm_enable(RIGHT_WHEEL_BACKWARD, false);

    set_pwm_enable(LEFT_WHEEL_FORWARD, false);
    set_pwm_enable(LEFT_WHEEL_BACKWARD, false);
}

void Motor::right(int speed) {
    set_speed(LEFT_WHEEL_FORWARD, speed);
    set_pwm_enable(LEFT_WHEEL_FORWARD, true);
    set_pwm_enable(LEFT_WHEEL_BACKWARD, false);

    set_pwm_enable(RIGHT_WHEEL_FORWARD, false);
    set_pwm_enable(RIGHT_WHEEL_BACKWARD, false);
}

void Motor::brake() {
    set_pwm_enable(LEFT_WHEEL_FORWARD, true);
    set_pwm_enable(LEFT_WHEEL_BACKWARD, true);
    set_pwm_enable(RIGHT_WHEEL_FORWARD, true);
    set_pwm_enable(RIGHT_WHEEL_BACKWARD, true);
}

void Motor::standby() {
    set_pwm_enable(LEFT_WHEEL_FORWARD, false);
    set_pwm_enable(LEFT_WHEEL_BACKWARD, false);
    set_pwm_enable(RIGHT_WHEEL_FORWARD, false);
    set_pwm_enable(RIGHT_WHEEL_BACKWARD, false);
}

// Author: Zhihang Shao <dio_ro@outlook.com>
// Source: aka0-ref commits 755a885, 9c69f3f
// 差速驱动实现，commit 9c69f3f: 右轮速度补偿+2修正偏差
void Motor::drive(int left_speed, int right_speed) {
    // 左轮
    if (left_speed > 0) {
        set_speed(LEFT_WHEEL_FORWARD, left_speed);
        set_pwm_enable(LEFT_WHEEL_FORWARD, true);
        set_pwm_enable(LEFT_WHEEL_BACKWARD, false);
    } else if (left_speed < 0) {
        set_speed(LEFT_WHEEL_BACKWARD, -left_speed);
        set_pwm_enable(LEFT_WHEEL_BACKWARD, true);
        set_pwm_enable(LEFT_WHEEL_FORWARD, false);
    } else {
        set_pwm_enable(LEFT_WHEEL_FORWARD, false);
        set_pwm_enable(LEFT_WHEEL_BACKWARD, false);
    }
    // 右轮（带+2速度补偿修正偏差）
    if (right_speed > 0) {
        set_speed(RIGHT_WHEEL_FORWARD, right_speed + 2);
        set_pwm_enable(RIGHT_WHEEL_FORWARD, true);
        set_pwm_enable(RIGHT_WHEEL_BACKWARD, false);
    } else if (right_speed < 0) {
        set_speed(RIGHT_WHEEL_BACKWARD, -right_speed + 2);
        set_pwm_enable(RIGHT_WHEEL_BACKWARD, true);
        set_pwm_enable(RIGHT_WHEEL_FORWARD, false);
    } else {
        set_pwm_enable(RIGHT_WHEEL_FORWARD, false);
        set_pwm_enable(RIGHT_WHEEL_BACKWARD, false);
    }
}