Abgabe

kawaii/engine.cpp

@@ -0,0 +1,79 @@
+#include "engine.hpp"
+
+#include <chrono>
+#include <utility>
+
+using namespace std;
+using namespace std::chrono;
+
+engine::engine(gpio&& pin_forward, gpio&& pin_reverse)
+	: speed(0),
+	  pin_forward(move(pin_forward)),
+	  pin_reverse(move(pin_reverse)),
+	  stop_thread(false),
+	  measurement(string("engine") + to_string(this->pin_forward.get_pin()))
+{
+	this->pin_forward.set_value(false);
+	this->pin_reverse.set_value(false);
+	pwm_thread = thread(&engine::pwm_loop, this);
+}
+
+engine::~engine()
+{
+	stop_thread = true;
+	pwm_thread.join();
+}
+
+void engine::set_speed(int speed)
+{
+	this->speed.store(speed, memory_order_relaxed);
+}
+
+void engine::pwm_loop()
+{
+	this_thread::sleep_for(milliseconds(100));
+	const int sleep_msec = 1;
+	int counter = 0;
+	high_resolution_clock::time_point next_sleep_target = high_resolution_clock::now();
+	while (!stop_thread)
+	{
+		measurement.start();
+		direction target_direction;
+		int speed_val = speed.load(memory_order_relaxed);
+		if (speed_val < 0)
+		{
+			target_direction = direction::REVERSE;
+			speed_val *= -1;
+		}
+		else
+		{
+			target_direction = direction::FORWARD;
+		}
+		counter += sleep_msec;
+		if (counter >= 100)
+			counter = 0;
+		if (counter < speed_val)
+		{
+			if (target_direction == direction::FORWARD)
+			{
+				pin_reverse.set_value(false);
+				pin_forward.set_value(true);
+			}
+			else
+			{
+				pin_forward.set_value(false);
+				pin_reverse.set_value(true);
+			}
+		}
+		else
+		{
+			pin_forward.set_value(false);
+			pin_reverse.set_value(false);
+		}
+		measurement.stop();
+		next_sleep_target += 500us;
+		this_thread::sleep_until(next_sleep_target);
+	}
+	pin_forward.set_value(false);
+	pin_reverse.set_value(false);
+}