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#KL25-27 モータコントローラクラスの作成 #9

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Merged
takuchi17 merged 23 commits into from
Jun 1, 2025
Merged

#KL25-27 モータコントローラクラスの作成 #9

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1e426d7
update: 公式のAPIラッパークラスを参照するように変更
nishijima515 May 23, 2025
a64683e
update: パスを追加
nishijima515 May 23, 2025
8bba3f2
delete: 不要ファイルの削除
nishijima515 May 23, 2025
6fd84bf
add: 新しいモックデータの追加
nishijima515 May 23, 2025
68ea327
update: mileageクラスを追加したメインの取り込み
nishijima515 May 23, 2025
559bd91
update: ロボットクラス追加後のメインの取り込み
nishijima515 May 27, 2025
8eae213
refactor: 細かな修正
nishijima515 May 27, 2025
2f32911
refactor: 細かな修正
nishijima515 May 27, 2025
5f82ed6
update: 名前空間をcppのほうに記述
nishijima515 May 29, 2025
b1568b5
Merge branch 'work-KL25-27' into ticket-KL25-27
nishijima515 May 29, 2025
7f04876
update: speed値をmm/sで受け取れるように変更
nishijima515 May 29, 2025
d5b68a8
refactor: 細かい修正
nishijima515 May 31, 2025
c10df1a
add: 円周率の定義とRAD_TO_DEGを追加
nishijima515 Jun 1, 2025
a34553b
refactor: 細かい修正
nishijima515 Jun 1, 2025
a3364c5
update: 細かい処理の変更とコメントの修正
nishijima515 Jun 1, 2025
653b3ce
refactor: 細かい修正
nishijima515 Jun 1, 2025
7da9972
refactor: 細かい修正
nishijima515 Jun 1, 2025
e94426c
update: RADIUSをWHEEL_RADIUSに変更
nishijima515 Jun 1, 2025
38bcd70
refactor: コメントの修正
nishijima515 Jun 1, 2025
9a42ec2
refactor: フォーマットエラー解消のための空行追加
nishijima515 Jun 1, 2025
65d9141
refactor: フォーマットエラー解消のための空行
nishijima515 Jun 1, 2025
31b4188
refactor: フォーマットエラー解消のための空行
nishijima515 Jun 1, 2025
d047303
refactor: コメントの修正
nishijima515 Jun 1, 2025
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137 changes: 0 additions & 137 deletions modules/API/Motor.h
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19 changes: 12 additions & 7 deletions modules/API/MotorController.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -4,11 +4,12 @@
* @author nishijima515
*/
#include "MotorController.h"
using namespace spikeapi;

MotorController::MotorController()
: rightWheel(Port::PORT_A),
leftWheel(Port::PORT_B, Motor::EDirection::COUNTERCLOCKWISE),
armMotor(Port::PORT_C, Motor::EDirection::COUNTERCLOCKWISE)
: rightWheel(EPort::PORT_A),
leftWheel(EPort::PORT_B, Motor::EDirection::COUNTERCLOCKWISE),
armMotor(EPort::PORT_C, Motor::EDirection::COUNTERCLOCKWISE)
{
}

Expand Down Expand Up @@ -57,13 +58,15 @@ void MotorController::resetWheelsMotorPower()
// 右タイヤのモータに回転速度をセット
void MotorController::setRightMotorSpeed(int speed)
{
rightWheel.setSpeed(speed);
double rightAngleSpeed = speed * DEG_180 / RADIUS / PI;
rightWheel.setSpeed(rightAngleSpeed);
}

// 左タイヤのモータに回転速度をセット
void MotorController::setLeftMotorSpeed(int speed)
{
leftWheel.setSpeed(speed);
double leftAngleSpeed = speed * DEG_180 / RADIUS / PI;
leftWheel.setSpeed(leftAngleSpeed);
}

// 両タイヤのモータを停止する
Expand Down Expand Up @@ -143,11 +146,13 @@ int32_t MotorController::getArmMotorCount()
// 右タイヤモータの回転速度を取得する
int32_t MotorController::getRightMotorSpeed()
{
return rightWheel.getSpeed();
double rightSpeed = rightWheel.getSpeed() / DEG_180 * RADIUS * PI;
return rightSpeed;
}

// 左タイヤモータの回転速度を取得する
int32_t MotorController::getLeftMotorSpeed()
{
return leftWheel.getSpeed();
double leftSpeed = leftWheel.getSpeed() / DEG_180 * RADIUS * PI;
return leftSpeed;
}
10 changes: 7 additions & 3 deletions modules/API/MotorController.h
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,11 @@
#ifndef MOTOR_MOTORCONTROLLER_H
#define MOTOR_MOTORCONTROLLER_H

#define PI 3.1415926 // 円周率
#define DEG_180 180.0 // 角度（°）

#include "Motor.h"
#include "SystemInfo.h" // RADIUSの定義を含む

class MotorController {
public:
Expand Down Expand Up @@ -141,9 +145,9 @@ class MotorController {
int32_t getLeftMotorSpeed();

private:
Motor rightWheel; // 右タイヤモータのインスタンス
Motor leftWheel; // 左タイヤモータのインスタンス
Motor armMotor; // アームモータのインスタンス
spikeapi::Motor rightWheel; // 右タイヤモータのインスタンス
spikeapi::Motor leftWheel; // 左タイヤモータのインスタンス
spikeapi::Motor armMotor; // アームモータのインスタンス

/**
* @brief モータに設定するpower値の制限
Expand Down
26 changes: 0 additions & 26 deletions modules/API/Port.h
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10 changes: 6 additions & 4 deletions tests/MotorControllerTest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,8 @@
#include "MotorController.h"
#include <gtest/gtest.h>

using namespace spikeapi;

namespace etrobocon2025_test {

// 右車輪のモータにpower値をセットできるかのテスト
Expand Down Expand Up @@ -224,12 +226,12 @@ namespace etrobocon2025_test {
EXPECT_EQ(expected, actual);
int speed = 1000;
MotorController.setRightMotorSpeed(speed);
expected = 1000;
expected = 999; // 誤差
actual = MotorController.getRightMotorSpeed();
EXPECT_EQ(expected, actual);
speed = -1000;
MotorController.setRightMotorSpeed(speed);
expected = -1000;
expected = -999; // 誤差
actual = MotorController.getRightMotorSpeed();
EXPECT_EQ(expected, actual);
MotorController.resetRightMotorPower();
Expand All @@ -244,12 +246,12 @@ namespace etrobocon2025_test {
EXPECT_EQ(expected, actual);
int speed = 1000;
MotorController.setLeftMotorSpeed(speed);
expected = 1000;
expected = 999; // 誤差
actual = MotorController.getLeftMotorSpeed();
EXPECT_EQ(expected, actual);
speed = -1000;
MotorController.setLeftMotorSpeed(speed);
expected = -1000;
expected = -999; // 誤差
actual = MotorController.getLeftMotorSpeed();
EXPECT_EQ(expected, actual);
MotorController.resetLeftMotorPower();
Expand Down
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