Umstellung auf Floatgenerell bei Speed

Umstellung auf Float bei Beschleunigung
Entfernen von minspeed
Entfernen nicht notwendiger Konstruktoren in Lokomotive

lib/fahrt/fahrt.cpp

@@ -2,24 +2,12 @@
 #include<fahrt.h>
 #include<locomotive.h>
 
-Fahrt::Fahrt(Locomotive locomotive, MotorDirection Direction, Gleis gleis, Gleisabschnitt gleisabschnitt): _locomotive(locomotive), _gleis(gleis), _gleisabschnitt(gleisabschnitt)
-{
-    _direction = Direction;
-    _speed = locomotive.getDefaultSpeed();
-    _bremsweg=0;
-}
 
-Fahrt::Fahrt(Locomotive locomotive, byte speed, MotorDirection Direction, Gleis gleis, Gleisabschnitt gleisabschnitt): _locomotive(locomotive), _gleis(gleis), _gleisabschnitt(gleisabschnitt)
-{
-    _direction = Direction;
-    _speed = speed;
-    _bremsweg=0;
-}
-
-Fahrt::Fahrt(Locomotive locomotive, byte speed, MotorDirection Direction, Gleis gleis, Gleisabschnitt gleisabschnitt, float bremsweg): _locomotive(locomotive), _gleis(gleis), _gleisabschnitt(gleisabschnitt)
+Fahrt::Fahrt(Locomotive locomotive, byte speed, MotorDirection Direction, Gleis gleis, float startbeschleunigung, Gleisabschnitt gleisabschnitt, float bremsweg): _locomotive(locomotive), _gleis(gleis), _gleisabschnitt(gleisabschnitt)
 {
     _direction = Direction;
     _speed = speed;
+    _startbeschleunigung = startbeschleunigung;
     _bremsweg=bremsweg;
 }
 
@@ -50,10 +38,7 @@ void Fahrt::Loop()
         delay(20);
         if (_gleisabschnitt.IstBesetzt() && !_abschnittErkannt) 
         {
-            if (_bremsweg==0)
-                _locomotive.Break();
-            else    
-                _locomotive.Accelerate(0, _bremsweg);
+            _locomotive.Accelerate(0, _bremsweg);
             _abschnittErkannt=true;
         }
     }

lib/fahrt/fahrt.h

@@ -8,9 +8,7 @@
 class Fahrt
 {
     public:
-        Fahrt(Locomotive locomotive, MotorDirection Direction, Gleis gleis, Gleisabschnitt gleisabschnitt);
-        Fahrt(Locomotive locomotive, byte speed, MotorDirection Direction, Gleis gleis, Gleisabschnitt gleisabschnitt);
-        Fahrt(Locomotive locomotive, byte speed, MotorDirection Direction, Gleis gleis, Gleisabschnitt gleisabschnitt, float bremsweg);
+        Fahrt(Locomotive locomotive, byte speed, MotorDirection Direction, Gleis gleis, float startbeschleunigung, Gleisabschnitt gleisabschnitt, float bremsweg);
         void Vorbereiten();
         void Start();
         void Loop();
@@ -27,6 +25,7 @@ class Fahrt
         Gleisabschnitt _gleisabschnitt;
         bool _abschnittErkannt;
         byte _speed;
+        float _startbeschleunigung;
         float _bremsweg;
 };
 

lib/locomotive/locomotive.cpp

@@ -2,22 +2,17 @@
 #include<motor.h>
 #include<math.h>
 
-Locomotive::Locomotive(int accelerate, int decelerate, byte minSpeed, byte maxSpeed, IMotor& motor): _motor(motor)
+Locomotive::Locomotive(float accelerate, float decelerate, byte minSpeedStart, byte minSpeedStop, IMotor& motor): _motor(motor)
 {
     _currentSpeed=0;
     _currentAcc=0;
     _accelerate=accelerate;
     _decelerate=decelerate;
-    _minSpeed=minSpeed;
-    _maxSpeed=maxSpeed;
+    _minSpeedStart=minSpeedStart;
+    _minSpeedStop=minSpeedStop;
 
 };
 
-void Locomotive::Accelerate()
-{
-    Accelerate(_maxSpeed);
-};
-
 void Locomotive::Accelerate(byte Speed)
 {
 /*      Serial.print("Locomotive.Accelerate: ");
@@ -26,6 +21,11 @@ void Locomotive::Accelerate(byte Speed)
         Serial.print(Speed);
         Serial.print(" ");
 */ 
+    Serial.print("Accelerate: currentspeed=");
+    Serial.print((_currentSpeed));
+    Serial.print(" targetspeed=");
+    Serial.print(Speed);
+
     _targetSpeed = Speed;
     _millisStart = millis()-_delay;
     if (_targetSpeed>_currentSpeed)
@@ -33,31 +33,41 @@ void Locomotive::Accelerate(byte Speed)
     else
         _currentAcc = - _decelerate;
 
+    Serial.print(" _currentAcc=");
+    Serial.print(_currentAcc);
+    Serial.println();
+
 };
 
 
 void Locomotive::Accelerate(byte Speed, float bremsweg)
 {
+    Serial.print("Accelerate: currentspeed=");
+    Serial.print((_currentSpeed));
+    Serial.print(" targetspeed=");
+    Serial.print(Speed);
+    Serial.print(" bremsweg=");
+    Serial.print((bremsweg));
+
     _targetSpeed = Speed;
-    _currentSpeed = (_currentSpeed<_minSpeed)? _minSpeed : _currentSpeed;
+    _currentSpeed = (_currentSpeed<_minSpeedStart)? _minSpeedStart : _currentSpeed;
     _millisStart = millis()-_delay;
 
-    byte _targetSpeed2 = ((_targetSpeed < _currentSpeed)&&(_targetSpeed == 0)) ? _minSpeed : _targetSpeed;
+    byte _targetSpeed2 = ((_targetSpeed < _currentSpeed)&&(_targetSpeed == 0)) ? _minSpeedStop : _targetSpeed;
     int deltaspeed = (_targetSpeed2 - _currentSpeed);
     
-    _currentAcc = copysign(deltaspeed * deltaspeed / (100.0 * bremsweg), deltaspeed);
+    _currentAcc = copysign(deltaspeed * deltaspeed  / (100.0 * bremsweg ) * (_delay / 300.0) , deltaspeed);
     if (_currentAcc == 0)
         _currentAcc = copysign(1, deltaspeed);
 
+    Serial.print(" targetspeed2=");
+    Serial.print(_targetSpeed2);
+    Serial.print(" _currentAcc=");
+    Serial.print(_currentAcc);
+    Serial.println();
 };
 
-
-void Locomotive::Break()
-{
-    Accelerate(0);
-};
-
-void Locomotive::setSpeed(byte Speed)
+void Locomotive::setSpeed(float Speed)
 {
     _currentSpeed = Speed;
     _motor.setSpeed( (int) (_currentSpeed+0.5));
@@ -86,14 +96,14 @@ void Locomotive::loop()
         Serial.println(newspeed);
 */
 
-        int breakspeed = _minSpeed * 80 / 100;
+        int breakspeed = _minSpeedStop;
 
         if ((newspeed>_targetSpeed) && (_currentAcc>0))
         {
             newspeed = _targetSpeed;
             _currentAcc =0;
         }
-        else if ((newspeed<_minSpeed) && (_currentAcc>0)) newspeed = _minSpeed;
+        else if ((newspeed<_minSpeedStart) && (_currentAcc>0)) newspeed = _minSpeedStart;
         else if ((newspeed<breakspeed) && (_currentAcc<0))
         {
             newspeed = 0;
@@ -107,13 +117,8 @@ void Locomotive::loop()
 
 };
 
-byte Locomotive::currentSpeed()
+float Locomotive::currentSpeed()
 {
-    return ((byte) (_currentSpeed+0.5));
-};
-
-byte Locomotive::getDefaultSpeed()
-{
-    return _maxSpeed;
+    return (_currentSpeed);
 };
 

lib/locomotive/locomotive.h

@@ -7,26 +7,22 @@
 class Locomotive
 {
   public:
-    Locomotive(int accelerate, int decelerate, byte minSpeed, byte maxSpeed, IMotor& motor);
-    Locomotive(int accelerate, byte speed, int decelerate, byte minSpeed, byte maxSpeed, IMotor& motor);
-    void Accelerate();
+    Locomotive(float accelerate, float decelerate, byte minSpeedStart, byte minSpeedStop, IMotor& motor);
     void Accelerate(byte Speed);
     void Accelerate(byte Speed, float bremsweg);
-    void Break();
-    void setSpeed(byte Speed);
+    void setSpeed(float Speed);
     void loop();
-    byte currentSpeed();
+    float currentSpeed();
     void setDirection(MotorDirection dir);
-    byte getDefaultSpeed();
 
   private:
-    int _accelerate;
-    int _decelerate;
+    float _accelerate;
+    float _decelerate;
     float _currentAcc;
-    byte _minSpeed;
-    byte _maxSpeed;
+    byte _minSpeedStart;
+    byte _minSpeedStop;
     byte _targetSpeed;
-    const unsigned int _delay=300;
+    const unsigned int _delay=100;
     unsigned long _millisStart;
     float _currentSpeed;
     IMotor& _motor;

src/main.cpp

@@ -25,14 +25,14 @@ Gleisabschnitt bahnhof2(10);
 Locomotive locomotiveTaurus(5, 22, 116, 180, regler1);
 Locomotive locomotive2043(6, 25, 129, 160, regler1);
 */
-Locomotive locomotiveTaurus(5, 22, 58, 120, regler1);
-Locomotive locomotive2043(6, 25, 70, 160, regler1);
+Locomotive locomotiveTaurus(2.2, 22, 53, 43, regler1);
+Locomotive locomotive2043(2.2, 25, 75, 63, regler1);
 
 Fahrt fahrt[] = {
- Fahrt(locomotiveTaurus, 135, motorForward, gleis1, bahnhof2, 6.7),
- Fahrt(locomotiveTaurus, 125, motorBackward, gleis1, bahnhof1, 5.6)   ,
- Fahrt(locomotive2043, 145, motorForward, gleis2, bahnhof2, 5.7),
- Fahrt(locomotive2043, 148, motorBackward, gleis2, bahnhof1, 5.3) 
+ Fahrt(locomotiveTaurus, 135, motorForward, gleis1, 1.9, bahnhof2, 9.0),
+ Fahrt(locomotiveTaurus, 125, motorBackward, gleis1, 1.8, bahnhof1, 8.2)   ,
+ Fahrt(locomotive2043, 150, motorForward, gleis2, 2.2, bahnhof2, 9.0),
+ Fahrt(locomotive2043, 165, motorBackward, gleis2, 2.0, bahnhof1, 8.6) 
 };
 
 int _currentFahrt;