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Rover: refactor motor.set_steering() to mode.set_steering()

This commit is contained in:
Tom Pittenger 2019-04-20 16:02:51 -07:00 committed by Tom Pittenger
parent 6970a66cad
commit a798f9eb27
5 changed files with 11 additions and 5 deletions
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9
APMrover2/mode.cpp
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@ -511,7 +511,7 @@ void Mode::calc_steering_from_lateral_acceleration(float lat_accel, bool reverse
g2.motors.limit.steer_left, g2.motors.limit.steer_left,
g2.motors.limit.steer_right, g2.motors.limit.steer_right,
rover.G_Dt); rover.G_Dt);
g2.motors.set_steering(steering_out * 4500.0f); set_steering(steering_out * 4500.0f);
} }
// calculate steering output to drive towards desired heading // calculate steering output to drive towards desired heading
@ -527,7 +527,7 @@ void Mode::calc_steering_to_heading(float desired_heading_cd, float rate_max_deg
g2.motors.limit.steer_left, g2.motors.limit.steer_left,
g2.motors.limit.steer_right, g2.motors.limit.steer_right,
rover.G_Dt); rover.G_Dt);
g2.motors.set_steering(steering_out * 4500.0f); set_steering(steering_out * 4500.0f);
} }
// calculate vehicle stopping point using current location, velocity and maximum acceleration // calculate vehicle stopping point using current location, velocity and maximum acceleration
@ -555,6 +555,11 @@ void Mode::calc_stopping_location(Location& stopping_loc)
stopping_loc.offset(stopping_offset.x, stopping_offset.y); stopping_loc.offset(stopping_offset.x, stopping_offset.y);
} }
void Mode::set_steering(float steering_value)
{
g2.motors.set_steering(steering_value);
}
Mode *Rover::mode_from_mode_num(const enum Mode::Number num) Mode *Rover::mode_from_mode_num(const enum Mode::Number num)
{ {
Mode *ret = nullptr; Mode *ret = nullptr;

1
APMrover2/mode.h
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@ -195,6 +195,7 @@ protected:
// steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise // steering_out is in the range -4500 ~ +4500 with positive numbers meaning rotate clockwise
// throttle_out is in the range -100 ~ +100 // throttle_out is in the range -100 ~ +100
void get_pilot_input(float &steering_out, float &throttle_out); void get_pilot_input(float &steering_out, float &throttle_out);
void set_steering(float steering_value);
// references to avoid code churn: // references to avoid code churn:
class AP_AHRS &ahrs; class AP_AHRS &ahrs;

2
APMrover2/mode_acro.cpp
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@ -43,7 +43,7 @@ void ModeAcro::update()
rover.G_Dt); rover.G_Dt);
} }
g2.motors.set_steering(steering_out * 4500.0f); set_steering(steering_out * 4500.0f);
} }
bool ModeAcro::requires_velocity() const bool ModeAcro::requires_velocity() const

2
APMrover2/mode_guided.cpp
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@ -80,7 +80,7 @@ void ModeGuided::update()
g2.motors.limit.steer_left, g2.motors.limit.steer_left,
g2.motors.limit.steer_right, g2.motors.limit.steer_right,
rover.G_Dt); rover.G_Dt);
g2.motors.set_steering(steering_out * 4500.0f); set_steering(steering_out * 4500.0f);
calc_throttle(_desired_speed, true, true); calc_throttle(_desired_speed, true, true);
} else { } else {
// we have reached the destination so stay here // we have reached the destination so stay here

2
APMrover2/mode_steering.cpp
View File

@ -28,7 +28,7 @@ void ModeSteering::update()
g2.motors.limit.steer_left, g2.motors.limit.steer_left,
g2.motors.limit.steer_right, g2.motors.limit.steer_right,
rover.G_Dt); rover.G_Dt);
g2.motors.set_steering(steering_out * 4500.0f); set_steering(steering_out * 4500.0f);
} else { } else {
// In steering mode we control lateral acceleration directly. // In steering mode we control lateral acceleration directly.
// For regular steering vehicles we use the maximum lateral acceleration // For regular steering vehicles we use the maximum lateral acceleration