mirror of
https://github.com/MeowLynxSea/MarsCar.git
synced 2025-07-09 18:54:35 +00:00
46 lines
1.3 KiB
C++
46 lines
1.3 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 "wifiServer.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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WifiServer::Config config;
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config.wifi_ssid = "ahxbxa";
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config.wifi_pass = "12345678";
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config.uart_port = UART_PORT;
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config.txd_pin = TXD;
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config.rxd_pin = RXD;
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WifiServer server(config);
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server.start();
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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,server.getLx(), server.getLy());
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std::string cmd1 = wheel.getWheelInfo();
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SteerMoveInfo steer(STEER_FL, STEER_FR, STEER_BL, STEER_BR, server.getRx(), server.getRy());
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std::string cmd2 = steer.getSteerInfo();
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std::string cmd3 = "";
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catcher.move(server);
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cmd3 = catcher.getSteerInfo();
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uartTool.sendData("Move", cmd1+cmd2+cmd3);
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// std::cout<<" "<<cmd3<<std::endl;
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vTaskDelay(10 / portTICK_PERIOD_MS); // 延
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}
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} |