62 lines
2.0 KiB
C++
62 lines
2.0 KiB
C++
#pragma once
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// system includes
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#include <algorithm>
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#include <utility>
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#include <string>
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// Arduino includes
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#ifdef FEATURE_SERIAL
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#include <HardwareSerial.h>
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#endif
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// 3rdparty lib includes
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#include <espchrono.h>
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#include <futurecpp.h>
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#include <cpputils.h>
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// local includes
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#ifdef FEATURE_CAN
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#include "bobbycar-can.h"
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#endif
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#ifdef FEATURE_SERIAL
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#include "bobbycar-serial.h"
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#endif
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#include "display.h"
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#include "globals.h"
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#ifdef FEATURE_CAN
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#include "can.h"
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#endif
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extern bool currentlyReverseBeeping;
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extern bool reverseBeepToggle;
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extern espchrono::millis_clock::time_point lastReverseBeepToggle;
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float convertToKmh(float val);
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float convertFromKmh(float val);
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float convertToInch(float val);
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float convertFromInch(float val);
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float fixCurrent(int16_t value);
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float fixBoardTemp(int16_t value);
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std::string hallString(const bobbycar::protocol::serial::MotorFeedback &motor);
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std::string to_string(bobbycar::protocol::ControlType value);
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std::string to_string(bobbycar::protocol::ControlMode value);
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std::array<std::reference_wrapper<bobbycar::protocol::serial::MotorState>, 2> motorsInController(Controller &controller);
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std::array<std::reference_wrapper<const bobbycar::protocol::serial::MotorState>, 2> motorsInController(const Controller &controller);
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std::array<std::reference_wrapper<bobbycar::protocol::serial::MotorFeedback>, 2> motorFeedbacksInController(Controller &controller);
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std::array<std::reference_wrapper<const bobbycar::protocol::serial::MotorFeedback>, 2> motorFeedbacksInController(const Controller &controller);
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std::array<std::reference_wrapper<bobbycar::protocol::serial::MotorState>, 4> motors();
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void fixCommonParams();
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void sendCommands();
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#ifdef FEATURE_SERIAL
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void updateSwapFrontBack();
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#endif
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bool loadSettings();
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bool saveSettings();
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void updateAccumulators();
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void readPotis();
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float wattToAmpere(float watt);
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float wattToMotorCurrent(float watt);
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uint8_t time_to_percent(espchrono::milliseconds32 repeat, espchrono::milliseconds32 riseTime, espchrono::milliseconds32 fullTime, size_t numLeds, bool invert);
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