spdis
94 lines
2.6 KiB
C++
94 lines
2.6 KiB
C++
/*
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* remote_control — 终端 WASD 遥控
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*
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* 用法: SSH 到小车后直接运行 ./remote_control
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* W/S = 前进/后退
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* A/D = 左转/右转
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* Q = 退出
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*
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* 硬件:
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* 左电机: pwmchip8/pwm2, GPIO12 方向, GPIO13 IN2=高
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* 右电机: pwmchip8/pwm1, GPIO13 方向
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* 使能: GPIO73
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* 舵机: pwmchip1/pwm0, 3ms 周期, 1.5ms 中位
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*/
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#include "MotorController.h"
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#include "PwmController.h"
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#include "GPIO.h"
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#include <cstdio>
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#include <cstdlib>
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#include <termios.h>
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#include <unistd.h>
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static constexpr unsigned int MOTOR_PERIOD_NS = 50000;
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static constexpr unsigned int SERVO_PERIOD_NS = 3000000;
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static constexpr unsigned int SERVO_CENTER_NS = 1500000;
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static constexpr unsigned int SERVO_RANGE_NS = 300000;
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int main()
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{
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GPIO mortorEN(73);
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mortorEN.setDirection("out");
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mortorEN.setValue(1);
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GPIO leftIn2(13);
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leftIn2.setDirection("out");
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leftIn2.setValue(1);
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MotorController motorL(8, 2, 12, MOTOR_PERIOD_NS);
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MotorController motorR(8, 1, 13, MOTOR_PERIOD_NS);
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PwmController servo(1, 0);
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servo.setPeriod(SERVO_PERIOD_NS);
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servo.setDutyCycle(SERVO_CENTER_NS);
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servo.enable();
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struct termios old_tio, new_tio;
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tcgetattr(STDIN_FILENO, &old_tio);
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new_tio = old_tio;
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new_tio.c_lflag &= ~(ICANON | ECHO);
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tcsetattr(STDIN_FILENO, TCSANOW, &new_tio);
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printf("WASD 遥控已启动\n");
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printf(" W=前进 S=后退 A=左转 D=右转 Q=退出 松手即停\n");
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double speed = 0, steer = 0;
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bool running = true;
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while (running) {
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fd_set fds;
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FD_ZERO(&fds);
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FD_SET(STDIN_FILENO, &fds);
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struct timeval tv = {0, 50000};
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if (select(STDIN_FILENO + 1, &fds, nullptr, nullptr, &tv) > 0) {
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char c;
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if (read(STDIN_FILENO, &c, 1) == 1) {
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switch (c) {
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case 'w': case 'W': speed = 50; break;
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case 's': case 'S': speed = -50; break;
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case 'a': case 'A': steer = -100; break;
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case 'd': case 'D': steer = 100; break;
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case 'q': case 'Q': running = false; break;
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}
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}
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} else {
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speed = 0;
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steer = 0;
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}
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unsigned int duty_ns = SERVO_CENTER_NS + (unsigned int)(steer / 100.0 * SERVO_RANGE_NS);
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servo.setDutyCycle(duty_ns);
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motorL.updateduty(speed);
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motorR.updateduty(speed);
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}
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motorL.updateduty(0);
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motorR.updateduty(0);
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servo.setDutyCycle(SERVO_CENTER_NS);
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mortorEN.setValue(0);
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tcsetattr(STDIN_FILENO, TCSANOW, &old_tio);
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printf("\n已退出\n");
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return 0;
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}
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