65 lines
2.2 KiB
C++
65 lines
2.2 KiB
C++
#pragma once
|
|
|
|
// system includes
|
|
#include <algorithm>
|
|
#include <utility>
|
|
#include <string>
|
|
|
|
// Arduino includes
|
|
#ifdef FEATURE_SERIAL
|
|
#include <HardwareSerial.h>
|
|
#endif
|
|
|
|
// 3rdparty lib includes
|
|
#include <espchrono.h>
|
|
#include <futurecpp.h>
|
|
#include <cpputils.h>
|
|
|
|
// local includes
|
|
#ifdef FEATURE_CAN
|
|
#include "bobbycar-can.h"
|
|
#endif
|
|
#ifdef FEATURE_SERIAL
|
|
#include "bobbycar-serial.h"
|
|
#endif
|
|
|
|
#include "display.h"
|
|
#include "globals.h"
|
|
#ifdef FEATURE_CAN
|
|
#include "can.h"
|
|
#endif
|
|
|
|
extern bool currentlyReverseBeeping;
|
|
extern bool reverseBeepToggle;
|
|
extern espchrono::millis_clock::time_point lastReverseBeepToggle;
|
|
|
|
float convertToKmh(float val);
|
|
float convertFromKmh(float val);
|
|
float convertToInch(float val);
|
|
float convertFromInch(float val);
|
|
float fixCurrent(int16_t value);
|
|
float fixBoardTemp(int16_t value);
|
|
std::string hallString(const bobbycar::protocol::serial::MotorFeedback &motor);
|
|
std::string to_string(bobbycar::protocol::ControlType value);
|
|
std::string to_string(bobbycar::protocol::ControlMode value);
|
|
std::array<std::reference_wrapper<bobbycar::protocol::serial::MotorState>, 2> motorsInController(Controller &controller);
|
|
std::array<std::reference_wrapper<const bobbycar::protocol::serial::MotorState>, 2> motorsInController(const Controller &controller);
|
|
std::array<std::reference_wrapper<bobbycar::protocol::serial::MotorFeedback>, 2> motorFeedbacksInController(Controller &controller);
|
|
std::array<std::reference_wrapper<const bobbycar::protocol::serial::MotorFeedback>, 2> motorFeedbacksInController(const Controller &controller);
|
|
std::array<std::reference_wrapper<bobbycar::protocol::serial::MotorState>, 4> motors();
|
|
void fixCommonParams();
|
|
void sendCommands();
|
|
#ifdef FEATURE_SERIAL
|
|
void updateSwapFrontBack();
|
|
#endif
|
|
bool loadSettings();
|
|
bool saveSettings();
|
|
void updateAccumulators();
|
|
void readPotis();
|
|
float wattToAmpere(float watt);
|
|
float wattToMotorCurrent(float watt);
|
|
std::string get_current_uptime_string();
|
|
std::string get_current_driving_time_string();
|
|
void secondsToHMS( const float seconds, uint16_t &h, uint8_t &m, uint8_t &s );
|
|
uint8_t time_to_percent(std::chrono::duration<long, std::ratio<1,1000>> repeat, std::chrono::duration<long, std::ratio<1,1000>> riseTime, std::chrono::duration<long, std::ratio<1,1000>> fullTime, size_t numLeds, bool invert);
|