spdis
125 lines
3.2 KiB
C++
125 lines
3.2 KiB
C++
/*
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* @Author: ilikara 3435193369@qq.com
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* @Date: 2025-01-07 02:21:05
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* @LastEditors: ilikara 3435193369@qq.com
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* @LastEditTime: 2025-03-29 01:36:06
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* @FilePath: /smartcar/demo1/demo1.cpp
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* @Description: 遥控车Demo，通过键盘控制小车的运动，WASD分别控制前后左右，按下Q退出。由于SSH可能会只捕获到一个按键，所以设定按下WS时清除转向，不按WS时不清除前进后退。
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*/
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#include <iostream>
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#include <unordered_set>
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#include <termios.h>
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#include <unistd.h>
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#include <sys/ioctl.h>
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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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GPIO mortorEN(73);
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MotorController *motorController[2] = {nullptr, nullptr};
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PwmController servo(1, 0);
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void Init()
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{
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mortorEN.setDirection("out");
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mortorEN.setValue(1);
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const int pwmchip[2] = {8, 8};
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const int pwmnum[2] = {2, 1};
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const int gpioNum[2] = {12, 13};
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const int encoder_pwmchip[2] = {0, 3};
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const int encoder_gpioNum[2] = {75, 72};
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const int encoder_dir[2] = {1, -1};
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const unsigned int period_ns = 50000; // 20 kHz
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for (int i = 0; i < 2; ++i)
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{
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motorController[i] = new MotorController(pwmchip[i], pwmnum[i], gpioNum[i], period_ns,
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0, 0, 0, 0,
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encoder_pwmchip[i], encoder_gpioNum[i], encoder_dir[i]);
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}
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servo.setPeriod(3000000);
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servo.setDutyCycle(1500000);
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servo.enable();
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}
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// 设置非阻塞输入
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void setNonBlockingInput(bool enable)
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{
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termios tty;
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tcgetattr(STDIN_FILENO, &tty);
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if (enable)
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{
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tty.c_lflag &= ~ICANON; // 禁用规范模式
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tty.c_lflag &= ~ECHO; // 禁用回显
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}
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else
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{
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tty.c_lflag |= ICANON;
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tty.c_lflag |= ECHO;
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}
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tcsetattr(STDIN_FILENO, TCSANOW, &tty);
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}
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int main()
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{
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std::unordered_set<char> pressedKeys;
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setNonBlockingInput(true);
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std::cout << "Press keys (WASD). Press 'q' to quit." << std::endl;
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Init();
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while (true)
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{
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char ch = getchar();
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if (ch == 'q')
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{ // 按 'q' 退出
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break;
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}
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// 添加按下的键到集合中，并响应按下的键
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if (ch == 'w' || ch == 'W')
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{
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pressedKeys.insert('W');
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motorController[0]->updateduty(17);
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motorController[1]->updateduty(17);
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servo.setDutyCycle(1520000);
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}
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else if (ch == 'a' || ch == 'A')
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{
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pressedKeys.insert('A');
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servo.setDutyCycle(1360000);
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}
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else if (ch == 's' || ch == 'S')
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{
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pressedKeys.insert('S');
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motorController[0]->updateduty(-17);
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motorController[1]->updateduty(-17);
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servo.setDutyCycle(1520000);
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}
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else if (ch == 'd' || ch == 'D')
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{
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pressedKeys.insert('D');
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servo.setDutyCycle(1680000);
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}
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// 显示当前按下的键
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std::cout << "Pressed Keys: ";
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for (char key : pressedKeys)
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{
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std::cout << key << " ";
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}
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std::cout << std::endl;
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// 清空按下的键集合
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pressedKeys.clear();
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usleep(10000); // 10ms
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}
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setNonBlockingInput(false);
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return 0;
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} |