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car-controlserver
Commit 04916f7c authored by 957dd's avatar 957dd
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调速得

parent 4557ff9f
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build/Makefile
View file @ 04916f7c
......@@ -942,6 +942,30 @@ drivers/sensors/infrared_gun.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/sensors/infrared_gun.c.s
.PHONY : drivers/sensors/infrared_gun.c.s
drivers/sensors/tank_angle.o: drivers/sensors/tank_angle.c.o
.PHONY : drivers/sensors/tank_angle.o
# target to build an object file
drivers/sensors/tank_angle.c.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/sensors/tank_angle.c.o
.PHONY : drivers/sensors/tank_angle.c.o
drivers/sensors/tank_angle.i: drivers/sensors/tank_angle.c.i
.PHONY : drivers/sensors/tank_angle.i
# target to preprocess a source file
drivers/sensors/tank_angle.c.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/sensors/tank_angle.c.i
.PHONY : drivers/sensors/tank_angle.c.i
drivers/sensors/tank_angle.s: drivers/sensors/tank_angle.c.s
.PHONY : drivers/sensors/tank_angle.s
# target to generate assembly for a file
drivers/sensors/tank_angle.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/drivers/sensors/tank_angle.c.s
.PHONY : drivers/sensors/tank_angle.c.s
drivers/sensors/temperature.o: drivers/sensors/temperature.c.o
.PHONY : drivers/sensors/temperature.o
......@@ -1086,6 +1110,30 @@ modules/http/http_request.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/http/http_request.c.s
.PHONY : modules/http/http_request.c.s
modules/http/ota.o: modules/http/ota.c.o
.PHONY : modules/http/ota.o
# target to build an object file
modules/http/ota.c.o:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/http/ota.c.o
.PHONY : modules/http/ota.c.o
modules/http/ota.i: modules/http/ota.c.i
.PHONY : modules/http/ota.i
# target to preprocess a source file
modules/http/ota.c.i:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/http/ota.c.i
.PHONY : modules/http/ota.c.i
modules/http/ota.s: modules/http/ota.c.s
.PHONY : modules/http/ota.s
# target to generate assembly for a file
modules/http/ota.c.s:
$(MAKE) $(MAKESILENT) -f CMakeFiles/main.dir/build.make CMakeFiles/main.dir/modules/http/ota.c.s
.PHONY : modules/http/ota.c.s
modules/logger/mylog.o: modules/logger/mylog.c.o
.PHONY : modules/logger/mylog.o
......@@ -1834,6 +1882,9 @@ help:
@echo "... drivers/sensors/infrared_gun.o"
@echo "... drivers/sensors/infrared_gun.i"
@echo "... drivers/sensors/infrared_gun.s"
@echo "... drivers/sensors/tank_angle.o"
@echo "... drivers/sensors/tank_angle.i"
@echo "... drivers/sensors/tank_angle.s"
@echo "... drivers/sensors/temperature.o"
@echo "... drivers/sensors/temperature.i"
@echo "... drivers/sensors/temperature.s"
......@@ -1852,6 +1903,9 @@ help:
@echo "... modules/http/http_request.o"
@echo "... modules/http/http_request.i"
@echo "... modules/http/http_request.s"
@echo "... modules/http/ota.o"
@echo "... modules/http/ota.i"
@echo "... modules/http/ota.s"
@echo "... modules/logger/mylog.o"
@echo "... modules/logger/mylog.i"
@echo "... modules/logger/mylog.s"
......
build/main
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build/third_party/mosquitto/apps/mosquitto_ctrl/CMakeFiles/mosquitto_ctrl.dir/progress.make
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build/third_party/mosquitto/apps/mosquitto_passwd/CMakeFiles/mosquitto_passwd.dir/progress.make
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drivers/devicecontrol/tank0203_control.c
View file @ 04916f7c
......@@ -173,25 +173,45 @@ void tank0203_mode_right_back(unsigned char gval) {
void tank0203_change(unsigned char *buf) {
unsigned char mode = buf[1];
unsigned char val = buf[2];
static bool tank0203_judg = 0;
static int tank0203_val_1=0;
static int tank0203_val_2=0;
if(mode == 1 ) {
//tank0203_mode_lift_flont(val);
tank0203_mode_right_flont(val);
g_modecount_tank0203=0;
tank0203_val_1 = val;
}else if(mode == 2 ) {
//tank0203_mode_lift_back(val);
tank0203_mode_right_back(val);
g_modecount_tank0203=1;
tank0203_val_2 = val;
}
if((mode == 1||mode ==2)&&val == 0) g_modecount_tank0203=0;
if((mode == 1||mode ==2)&&val == 0) {
g_modecount_tank0203=0;
tank0203_judg = 0;
}else tank0203_judg = 1;
if(mode == 3) {
if(g_modecount_tank0203 == 0) tank0203_mode_lift_back(val+15);
if(g_modecount_tank0203 == 1) tank0203_mode_lift_flont(val+15);
if(g_modecount_tank0203 == 0) {
if(tank0203_judg == 0) tank0203_mode_lift_back(tank0203_val_1-15);
else tank0203_mode_lift_back(val+11);
}
if(g_modecount_tank0203 == 1) {
if(tank0203_judg == 0) tank0203_mode_lift_flont(tank0203_val_2-15);
else tank0203_mode_lift_flont(val+11);
}
}else if(mode == 4) {
if(g_modecount_tank0203 == 0) tank0203_mode_lift_flont(val+15);
if(g_modecount_tank0203 == 1) tank0203_mode_lift_back(val+15);
if(g_modecount_tank0203 == 0) {
if(tank0203_judg == 0) tank0203_mode_lift_flont(tank0203_val_2-15);
else tank0203_mode_lift_flont(val+11);
}
if(g_modecount_tank0203 == 1) {
if(tank0203_judg == 0) tank0203_mode_lift_back(tank0203_val_1-15);
else tank0203_mode_lift_back(val+11);
}
}
}
......
drivers/sensors/tank_angle.c 0 → 100644
View file @ 04916f7c
#include "tank_angle.h"
#include "common.h"
#include "ads1115.h"
double tank_angle(){
double angle=0;
float angle_shot=ads1115_read_channel(2);
if(angle_shot>0){
angle_shot=angle_shot*360/5;
angle = round(angle_shot * 100) / 100;
}
return angle;
}
\ No newline at end of file
drivers/sensors/tank_angle.h 0 → 100644
View file @ 04916f7c
#ifndef TANK_ANGLE_H
#define TANK_ANGLE_H
double tank_angle();
#endif
\ No newline at end of file
modules/http/ota.c 0 → 100644
View file @ 04916f7c
#include "ota.h"
#include "common.h"
int ota_init(){
}
\ No newline at end of file
modules/http/ota.h 0 → 100644
View file @ 04916f7c
#ifndef OTA_H
#define OTA_H
#endif
\ No newline at end of file
modules/mqtt/mqtt_infor_handle.c
View file @ 04916f7c
......@@ -17,6 +17,7 @@
#include "audioplay.h"
#include "gpio_init.h"
#include "device_init.h"
#include "tank_angle.h"
int g_heartbeat_count=0;
......@@ -82,12 +83,9 @@ void heartbeat_send() {
//角度发送
void angle_mqtt_send() {
static int angle_i=0;
float angle_shot=ads1115_read_channel(2);
if(angle_shot>0){
angle_shot=angle_shot*360/5;
cJSON *root = cJSON_CreateObject();
char TOPIC_send_angle[26];
double rounded_angle = round(angle_shot * 100) / 100;
double rounded_angle = tank_angle();
sprintf(TOPIC_send_angle,"dev_rtinfo/%s",mqtt_topic_pure_number());
cJSON_AddStringToObject(root, "type","tank_angle");
cJSON_AddNumberToObject(root, "angle",rounded_angle);
......@@ -99,7 +97,7 @@ void angle_mqtt_send() {
}
mosquitto_publish(mosq, NULL, TOPIC_send_angle, strlen(payload), payload, 0, false);
cJSON_Delete(root); // 释放 cJSON 对象
}
}
......
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