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This commit is contained in:
玖叁 2025-01-01 20:11:08 +08:00
parent 5953a5d6e6
commit 6c00f2c959
3 changed files with 128 additions and 61 deletions
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3
include/consts.example.h
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@ -74,4 +74,7 @@
#define CHARACTERISTIC_UUID_RX "6E400002-B5A3-F393-E0A9-E50E24DCCA9E"
#define CHARACTERISTIC_UUID_TX "6E400003-B5A3-F393-E0A9-E50E24DCCA9E"
// 是否启用存储功能
#define STORAGE_ENABLE 1 // 设置为 0 可以禁用存储功能
#endif // __CONSTS_H__

25
include/storage.h
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@ -2,14 +2,37 @@
#define STORAGE_H
#include <Arduino.h>
#include <SPIFFS.h>
#include "consts.h"
#if STORAGE_ENABLE
#include <SPIFFS.h>
#endif
class Storage
{
public:
static bool isMounted;
static void init();
// 默认参数定义
static constexpr uint8_t DEFAULT_BASE_SPEED = 50;
static constexpr uint8_t DEFAULT_TURN_SPEED = 50;
static constexpr uint8_t DEFAULT_ROTATE_SENSITIVE = 3;
static constexpr unsigned int DEFAULT_SENSITIVITY = 0xFF;
static constexpr float DEFAULT_KP = 1.0f;
static constexpr float DEFAULT_KI = 0.0f;
static constexpr float DEFAULT_KD = 0.0f;
// 当前参数（用于非存储模式）
static uint8_t currentBaseSpeed;
static uint8_t currentTurnSpeed;
static uint8_t currentRotateSensitive;
static unsigned int currentSensitivity;
static float currentKp;
static float currentKi;
static float currentKd;
static String currentName;
static void setPID(float kp, float ki, float kd);
static void getPID(float &kp, float &ki, float &kd);
static void setSensitivity(unsigned int sensitivity);

161
src/storage.cpp
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@ -1,9 +1,18 @@
#include "storage.h"
bool Storage::isMounted;
bool Storage::isMounted = false;
uint8_t Storage::currentBaseSpeed = DEFAULT_BASE_SPEED;
uint8_t Storage::currentTurnSpeed = DEFAULT_TURN_SPEED;
uint8_t Storage::currentRotateSensitive = DEFAULT_ROTATE_SENSITIVE;
unsigned int Storage::currentSensitivity = DEFAULT_SENSITIVITY;
float Storage::currentKp = DEFAULT_KP;
float Storage::currentKi = DEFAULT_KI;
float Storage::currentKd = DEFAULT_KD;
String Storage::currentName = DEVICE_NAME;
void Storage::init()
{
#if STORAGE_ENABLE
if (!SPIFFS.begin(true))
{
Serial.println("SPIFFS Mount Failed");
@ -14,6 +23,97 @@ void Storage::init()
Serial.println("SPIFFS Mount Success");
isMounted = true;
}
#else
Serial.println("Storage disabled");
isMounted = false;
#endif
}
void Storage::setTrackingParams(uint8_t baseSpeed, uint8_t turnSpeed, uint8_t rotateSensitive)
{
currentBaseSpeed = baseSpeed;
currentTurnSpeed = turnSpeed;
currentRotateSensitive = rotateSensitive;
#if STORAGE_ENABLE
if (!isMounted) return;
File file = SPIFFS.open("/tracking.txt", "w");
file.println(baseSpeed);
file.println(turnSpeed);
file.println(rotateSensitive);
file.close();
#endif
}
void Storage::getTrackingParams(uint8_t &baseSpeed, uint8_t &turnSpeed, uint8_t &rotateSensitive)
{
#if STORAGE_ENABLE
if (!isMounted || !SPIFFS.exists("/tracking.txt")) {
baseSpeed = currentBaseSpeed;
turnSpeed = currentTurnSpeed;
rotateSensitive = currentRotateSensitive;
return;
}
File file = SPIFFS.open("/tracking.txt", "r");
baseSpeed = file.readStringUntil('\n').toInt();
turnSpeed = file.readStringUntil('\n').toInt();
rotateSensitive = file.readStringUntil('\n').toInt();
file.close();
// 更新当前值
currentBaseSpeed = baseSpeed;
currentTurnSpeed = turnSpeed;
currentRotateSensitive = rotateSensitive;
#else
baseSpeed = currentBaseSpeed;
turnSpeed = currentTurnSpeed;
rotateSensitive = currentRotateSensitive;
#endif
}
void Storage::setPID(float kp, float ki, float kd)
{
currentKp = kp;
currentKi = ki;
currentKd = kd;
#if STORAGE_ENABLE
if (!isMounted) return;
File file = SPIFFS.open("/pid.txt", "w");
file.println(kp);
file.println(ki);
file.println(kd);
file.close();
#endif
}
void Storage::getPID(float &kp, float &ki, float &kd)
{
#if STORAGE_ENABLE
if (!isMounted || !SPIFFS.exists("/pid.txt")) {
kp = currentKp;
ki = currentKi;
kd = currentKd;
return;
}
File file = SPIFFS.open("/pid.txt", "r");
kp = file.readStringUntil('\n').toFloat();
ki = file.readStringUntil('\n').toFloat();
kd = file.readStringUntil('\n').toFloat();
file.close();
currentKp = kp;
currentKi = ki;
currentKd = kd;
#else
kp = currentKp;
ki = currentKi;
kd = currentKd;
#endif
}
unsigned int Storage::getSensitivity()
@ -41,30 +141,6 @@ void Storage::setSensitivity(unsigned int sensitivity)
file.close();
}
void Storage::setPID(float kp, float ki, float kd)
{
if (!isMounted)
return;
File file = SPIFFS.open("/pid.txt", "w");
file.println(kp);
file.println(ki);
file.println(kd);
file.close();
}
void Storage::getPID(float &kp, float &ki, float &kd)
{
if (!isMounted)
return;
File file = SPIFFS.open("/pid.txt", "r");
kp = file.readStringUntil('\n').toFloat();
ki = file.readStringUntil('\n').toFloat();
kd = file.readStringUntil('\n').toFloat();
file.close();
}
void Storage::setName(String name)
{
if (!isMounted)
@ -86,38 +162,3 @@ String Storage::getName()
return name;
}
void Storage::setTrackingParams(uint8_t baseSpeed, uint8_t turnSpeed, uint8_t rotateSensitive)
{
if (!isMounted)
return;
File file = SPIFFS.open("/tracking.txt", "w");
file.println(baseSpeed);
file.println(turnSpeed);
file.println(rotateSensitive);
file.close();
}
void Storage::getTrackingParams(uint8_t &baseSpeed, uint8_t &turnSpeed, uint8_t &rotateSensitive)
{
if (!isMounted) {
baseSpeed = 50;
turnSpeed = 50;
rotateSensitive = 3;
return;
}
File file = SPIFFS.open("/tracking.txt", "r");
if (!file) {
baseSpeed = 50;
turnSpeed = 50;
rotateSensitive = 3;
return;
}
baseSpeed = file.readStringUntil('\n').toInt();
turnSpeed = file.readStringUntil('\n').toInt();
rotateSensitive = file.readStringUntil('\n').toInt();
file.close();
}