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Umstellung auf Floatgenerell bei Speed

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Umstellung auf Float bei Beschleunigung
Entfernen von minspeed
Entfernen nicht notwendiger Konstruktoren in Lokomotive
This commit is contained in:
handynet
2023-05-19 16:41:59 +02:00
parent a5f5b18a27
commit fe94db4e88
5 changed files with 51 additions and 66 deletions
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19
lib/fahrt/fahrt.cpp
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@@ -2,24 +2,12 @@
#include<fahrt.h> #include<fahrt.h>
#include<locomotive.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) 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;
_bremsweg=0;
}
Fahrt::Fahrt(Locomotive locomotive, byte speed, MotorDirection Direction, Gleis gleis, Gleisabschnitt gleisabschnitt, float bremsweg): _locomotive(locomotive), _gleis(gleis), _gleisabschnitt(gleisabschnitt)
{ {
_direction = Direction; _direction = Direction;
_speed = speed; _speed = speed;
_startbeschleunigung = startbeschleunigung;
_bremsweg=bremsweg; _bremsweg=bremsweg;
} }
@@ -50,9 +38,6 @@ void Fahrt::Loop()
delay(20); delay(20);
if (_gleisabschnitt.IstBesetzt() && !_abschnittErkannt) if (_gleisabschnitt.IstBesetzt() && !_abschnittErkannt)
{ {
if (_bremsweg==0)
_locomotive.Break();
else
_locomotive.Accelerate(0, _bremsweg); _locomotive.Accelerate(0, _bremsweg);
_abschnittErkannt=true; _abschnittErkannt=true;
} }

5
lib/fahrt/fahrt.h
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@@ -8,9 +8,7 @@
class Fahrt class Fahrt
{ {
public: public:
Fahrt(Locomotive locomotive, MotorDirection Direction, Gleis gleis, Gleisabschnitt gleisabschnitt); Fahrt(Locomotive locomotive, byte speed, MotorDirection Direction, Gleis gleis, float startbeschleunigung, Gleisabschnitt gleisabschnitt, float bremsweg);
Fahrt(Locomotive locomotive, byte speed, MotorDirection Direction, Gleis gleis, Gleisabschnitt gleisabschnitt);
Fahrt(Locomotive locomotive, byte speed, MotorDirection Direction, Gleis gleis, Gleisabschnitt gleisabschnitt, float bremsweg);
void Vorbereiten(); void Vorbereiten();
void Start(); void Start();
void Loop(); void Loop();
@@ -27,6 +25,7 @@ class Fahrt
Gleisabschnitt _gleisabschnitt; Gleisabschnitt _gleisabschnitt;
bool _abschnittErkannt; bool _abschnittErkannt;
byte _speed; byte _speed;
float _startbeschleunigung;
float _bremsweg; float _bremsweg;
}; };

59
lib/locomotive/locomotive.cpp
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@@ -2,22 +2,17 @@
#include<motor.h> #include<motor.h>
#include<math.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; _currentSpeed=0;
_currentAcc=0; _currentAcc=0;
_accelerate=accelerate; _accelerate=accelerate;
_decelerate=decelerate; _decelerate=decelerate;
_minSpeed=minSpeed; _minSpeedStart=minSpeedStart;
_maxSpeed=maxSpeed; _minSpeedStop=minSpeedStop;
}; };
void Locomotive::Accelerate()
{
Accelerate(_maxSpeed);
};
void Locomotive::Accelerate(byte Speed) void Locomotive::Accelerate(byte Speed)
{ {
/* Serial.print("Locomotive.Accelerate: "); /* Serial.print("Locomotive.Accelerate: ");
@@ -26,6 +21,11 @@ void Locomotive::Accelerate(byte Speed)
Serial.print(Speed); Serial.print(Speed);
Serial.print(" "); Serial.print(" ");
*/ */
Serial.print("Accelerate: currentspeed=");
Serial.print((_currentSpeed));
Serial.print(" targetspeed=");
Serial.print(Speed);
_targetSpeed = Speed; _targetSpeed = Speed;
_millisStart = millis()-_delay; _millisStart = millis()-_delay;
if (_targetSpeed>_currentSpeed) if (_targetSpeed>_currentSpeed)
@@ -33,31 +33,41 @@ void Locomotive::Accelerate(byte Speed)
else else
_currentAcc = - _decelerate; _currentAcc = - _decelerate;
Serial.print(" _currentAcc=");
Serial.print(_currentAcc);
Serial.println();
}; };
void Locomotive::Accelerate(byte Speed, float bremsweg) 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; _targetSpeed = Speed;
_currentSpeed = (_currentSpeed<_minSpeed)? _minSpeed : _currentSpeed; _currentSpeed = (_currentSpeed<_minSpeedStart)? _minSpeedStart : _currentSpeed;
_millisStart = millis()-_delay; _millisStart = millis()-_delay;
byte _targetSpeed2 = ((_targetSpeed < _currentSpeed)&&(_targetSpeed == 0)) ? _minSpeed : _targetSpeed; byte _targetSpeed2 = ((_targetSpeed < _currentSpeed)&&(_targetSpeed == 0)) ? _minSpeedStop : _targetSpeed;
int deltaspeed = (_targetSpeed2 - _currentSpeed); 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) if (_currentAcc == 0)
_currentAcc = copysign(1, deltaspeed); _currentAcc = copysign(1, deltaspeed);
Serial.print(" targetspeed2=");
Serial.print(_targetSpeed2);
Serial.print(" _currentAcc=");
Serial.print(_currentAcc);
Serial.println();
}; };
void Locomotive::setSpeed(float Speed)
void Locomotive::Break()
{
Accelerate(0);
};
void Locomotive::setSpeed(byte Speed)
{ {
_currentSpeed = Speed; _currentSpeed = Speed;
_motor.setSpeed( (int) (_currentSpeed+0.5)); _motor.setSpeed( (int) (_currentSpeed+0.5));
@@ -86,14 +96,14 @@ void Locomotive::loop()
Serial.println(newspeed); Serial.println(newspeed);
*/ */
int breakspeed = _minSpeed * 80 / 100; int breakspeed = _minSpeedStop;
if ((newspeed>_targetSpeed) && (_currentAcc>0)) if ((newspeed>_targetSpeed) && (_currentAcc>0))
{ {
newspeed = _targetSpeed; newspeed = _targetSpeed;
_currentAcc =0; _currentAcc =0;
} }
else if ((newspeed<_minSpeed) && (_currentAcc>0)) newspeed = _minSpeed; else if ((newspeed<_minSpeedStart) && (_currentAcc>0)) newspeed = _minSpeedStart;
else if ((newspeed<breakspeed) && (_currentAcc<0)) else if ((newspeed<breakspeed) && (_currentAcc<0))
{ {
newspeed = 0; newspeed = 0;
@@ -107,13 +117,8 @@ void Locomotive::loop()
}; };
byte Locomotive::currentSpeed() float Locomotive::currentSpeed()
{ {
return ((byte) (_currentSpeed+0.5)); return (_currentSpeed);
};
byte Locomotive::getDefaultSpeed()
{
return _maxSpeed;
}; };

20
lib/locomotive/locomotive.h
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@@ -7,26 +7,22 @@
class Locomotive class Locomotive
{ {
public: public:
Locomotive(int accelerate, int decelerate, byte minSpeed, byte maxSpeed, IMotor& motor); Locomotive(float accelerate, float decelerate, byte minSpeedStart, byte minSpeedStop, IMotor& motor);
Locomotive(int accelerate, byte speed, int decelerate, byte minSpeed, byte maxSpeed, IMotor& motor);
void Accelerate();
void Accelerate(byte Speed); void Accelerate(byte Speed);
void Accelerate(byte Speed, float bremsweg); void Accelerate(byte Speed, float bremsweg);
void Break(); void setSpeed(float Speed);
void setSpeed(byte Speed);
void loop(); void loop();
byte currentSpeed(); float currentSpeed();
void setDirection(MotorDirection dir); void setDirection(MotorDirection dir);
byte getDefaultSpeed();
private: private:
int _accelerate; float _accelerate;
int _decelerate; float _decelerate;
float _currentAcc; float _currentAcc;
byte _minSpeed; byte _minSpeedStart;
byte _maxSpeed; byte _minSpeedStop;
byte _targetSpeed; byte _targetSpeed;
const unsigned int _delay=300; const unsigned int _delay=100;
unsigned long _millisStart; unsigned long _millisStart;
float _currentSpeed; float _currentSpeed;
IMotor& _motor; IMotor& _motor;

12
src/main.cpp
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@@ -25,14 +25,14 @@ Gleisabschnitt bahnhof2(10);
Locomotive locomotiveTaurus(5, 22, 116, 180, regler1); Locomotive locomotiveTaurus(5, 22, 116, 180, regler1);
Locomotive locomotive2043(6, 25, 129, 160, regler1); Locomotive locomotive2043(6, 25, 129, 160, regler1);
*/ */
Locomotive locomotiveTaurus(5, 22, 58, 120, regler1); Locomotive locomotiveTaurus(2.2, 22, 53, 43, regler1);
Locomotive locomotive2043(6, 25, 70, 160, regler1); Locomotive locomotive2043(2.2, 25, 75, 63, regler1);
Fahrt fahrt[] = { Fahrt fahrt[] = {
Fahrt(locomotiveTaurus, 135, motorForward, gleis1, bahnhof2, 6.7), Fahrt(locomotiveTaurus, 135, motorForward, gleis1, 1.9, bahnhof2, 9.0),
Fahrt(locomotiveTaurus, 125, motorBackward, gleis1, bahnhof1, 5.6) , Fahrt(locomotiveTaurus, 125, motorBackward, gleis1, 1.8, bahnhof1, 8.2) ,
Fahrt(locomotive2043, 145, motorForward, gleis2, bahnhof2, 5.7), Fahrt(locomotive2043, 150, motorForward, gleis2, 2.2, bahnhof2, 9.0),
Fahrt(locomotive2043, 148, motorBackward, gleis2, bahnhof1, 5.3) Fahrt(locomotive2043, 165, motorBackward, gleis2, 2.0, bahnhof1, 8.6)
}; };
int _currentFahrt; int _currentFahrt;