mirror of
https://github.com/MeowLynxSea/MarsCar.git
synced 2025-07-09 10:44:35 +00:00
39 lines
1.2 KiB
C++
39 lines
1.2 KiB
C++
#include "ps2_controller.h"
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#include "moveInfo.h"
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#include "parameter.h"
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#include "driver/gpio.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_timer.h"
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#include "uartTool.h"
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#include "catchPoint.h"
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#include <iostream>
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extern "C" void app_main()
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{
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PS2Controller ps2(GPIO_NUM_19, GPIO_NUM_18, GPIO_NUM_15, GPIO_NUM_23);
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ps2.launch();
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CatchPoint catcher;
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UartTool uartTool(UART_NUM_2, GPIO_NUM_17, GPIO_NUM_16);
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while (1)
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{
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//ps2.updateStatic();
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WheelMoveInfo wheel(WHEEL_FL, WHEEL_FR, WHEEL_BL, WHEEL_BR, ps2.getLx(), ps2.getLy());
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std::string cmd1 = wheel.getWheelInfo();
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SteerMoveInfo steer(STEER_FL, STEER_FR, STEER_BL, STEER_BR, ps2.getRx(), ps2.getRy());
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std::string cmd2 = steer.getSteerInfo();
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catcher.move(ps2);
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std::string cmd3="";
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if (catcher.solution(1e-2))
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{
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std::string cmd3 = catcher.getSteerInfo();
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std::cout<<cmd3<<std::endl;
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}
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//printf("update!\n");
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uartTool.sendData("Move",cmd1+cmd2+cmd3);
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// uartTool.sendData("SteerMove","#013P1500T0100!");
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vTaskDelay(10 / portTICK_PERIOD_MS); // 延
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}
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} |