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remove duplicate function codes

This commit is contained in:
Richie 2023-11-10 09:37:45 +08:00
parent a022c74981
commit ba2234d380
2 changed files with 23 additions and 21 deletions
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38
frtos/motor/motor_direction.h
View File

@ -70,18 +70,23 @@ check_direction(float current_direction, float target_direction, float range)
} }
/*! /*!
* @brief Spin the car to a certain yaw * @brief Spin the car to a certain yaw specifically
* @param direction The direction to turn or spin
* @param target_yaw The target yaw to spin to * @param target_yaw The target yaw to spin to
* @param pwm_level The pwm_level of the wheels, from 0 to 99
* @param pp_car_struct The car struct pointer * @param pp_car_struct The car struct pointer
*/ */
void void
spin_to_yaw(uint32_t direction, float target_yaw, car_struct_t *pp_car_struct) turn_to_yaw(uint32_t direction,
float target_yaw,
uint32_t pwm_level,
car_struct_t *pp_car_struct)
{ {
pp_car_struct->p_pid->use_pid = false; pp_car_struct->p_pid->use_pid = false;
set_wheel_direction(direction); set_wheel_direction(direction);
set_wheel_speed_synced(80u, pp_car_struct); set_wheel_speed_synced(pwm_level, pp_car_struct);
for (;;) for (;;)
{ {
@ -98,8 +103,18 @@ spin_to_yaw(uint32_t direction, float target_yaw, car_struct_t *pp_car_struct)
vTaskDelay(pdMS_TO_TICKS(50)); vTaskDelay(pdMS_TO_TICKS(50));
} }
/*!
* @brief turn or spin the car to a certain degree offset from the current yaw
* @param direction The direction to turn or spin
* @param target_yaw The target yaw to spin to
* @param pwm_level The pwm_level of the wheels, from 0 to 99
* @param pp_car_struct The car struct pointer
*/
void void
spin_right(float degree, car_struct_t *pp_car_struct) turn(uint32_t direction,
float degree,
uint32_t pwm_level,
car_struct_t *pp_car_struct)
{ {
set_wheel_direction(DIRECTION_MASK); set_wheel_direction(DIRECTION_MASK);
vTaskDelay(pdMS_TO_TICKS(50)); vTaskDelay(pdMS_TO_TICKS(50));
@ -108,20 +123,7 @@ spin_right(float degree, car_struct_t *pp_car_struct)
float initial_yaw = pp_car_struct->p_direction->yaw; float initial_yaw = pp_car_struct->p_direction->yaw;
float target_yaw = adjust_yaw(initial_yaw + degree); float target_yaw = adjust_yaw(initial_yaw + degree);
spin_to_yaw(DIRECTION_RIGHT, target_yaw, pp_car_struct); turn_to_yaw(direction, target_yaw, pwm_level, pp_car_struct);
}
void
spin_left(float degree, car_struct_t *pp_car_struct)
{
set_wheel_direction(DIRECTION_MASK);
vTaskDelay(pdMS_TO_TICKS(50));
updateDirection(pp_car_struct->p_direction);
float initial_yaw = pp_car_struct->p_direction->yaw;
float target_yaw = adjust_yaw(initial_yaw - degree);
spin_to_yaw(DIRECTION_LEFT, target_yaw, pp_car_struct);
} }
#endif /* MOTOR_DIRECTION_H */ #endif /* MOTOR_DIRECTION_H */

6
frtos/rtos_car.c
View File

@ -20,15 +20,15 @@ motor_control_task(void *params)
printf("Collision: %d\n", check_collision(car_struct)); printf("Collision: %d\n", check_collision(car_struct));
if (check_collision(car_struct)) if (check_collision(car_struct))
{ {
spin_left(90, car_struct); turn(DIRECTION_LEFT, 90, 80u, car_struct);
// if (check_collision(car_struct)) // if (check_collision(car_struct))
// { // {
// spin_right(180, car_struct); // turn(180, car_struct);
// //
// if (check_collision(car_struct)) // if (check_collision(car_struct))
// { // {
// spin_right(90, car_struct); // turn(90, car_struct);
// } // }
// } // }
} }