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improve disable logging check and add experimental tanksteering

This commit is contained in:
interfisch 2024-07-14 12:30:20 +02:00
parent a8d43211e9
commit 156455f363
1 changed files with 112 additions and 12 deletions
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122
controller_teensy/src/main.cpp
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@ -72,9 +72,22 @@ void setup()
pinMode(PIN_PWRBUTTON, INPUT_PULLUP); //Pressed=High
if (!digitalRead(PIN_PWRBUTTON)) { //button is not pressed during startup means teensy is powered externally (usb)
datalogging=false; //disable logging when connected via usb to not clutter up sd card
Serial.println("PWRBUTTON not pressed. Logging disabled!");
datalogging=false; //disable logging when connected via usb to not clutter up sd card
Serial.print("PWRBUTTON ");
for (uint8_t i=0;i<10;i++) { //check a few times
if (!digitalRead(PIN_PWRBUTTON)) { //button is not pressed during startup means teensy is powered externally (usb)
Serial.print(".");
delay(100); //give more time to disable logging
}else{
datalogging=true; //button presse at least once recognized. enable logging
Serial.print("X");
}
}
if (!datalogging){
Serial.println(" not pressed. Logging disabled!");
}else{
Serial.println(" Pressed. Logging enabled");
}
pinMode(PIN_LED_START, OUTPUT); //Active High
@ -92,7 +105,7 @@ void setup()
led_testLEDSBlocking();
delay(2000);
delay(100);
Serial.println("Init Functions");
led_simpeProgress(0,1);
@ -519,27 +532,114 @@ void calculateSetSpeed(unsigned long timediff){
}
//acceleration
// ## Acceleration
cmd_send += constrain(adjusted_throttle_pos-cmd_send,0,(int16_t)(max_acceleration_rate*(timediff/1000.0)) ); //if throttle higher than last applied value, apply throttle directly with rate limit
cmd_send=constrain(cmd_send,0,throttle_max);
last_cmd_send=cmd_send;
int16_t cmd_send_toMotor=constrain(cmd_send* (1.0-(brake_pos*0.5/1000.0) ) ,0,throttle_max); //brake "ducking"
int16_t cmd_send_toMotor_FL=0;
int16_t cmd_send_toMotor_FR=0;
int16_t cmd_send_toMotor_RL=0;
int16_t cmd_send_toMotor_RR=0;
int16_t _cmd_send_toMotor=constrain(cmd_send* (1.0-(brake_pos*0.5/1000.0) ) ,0,throttle_max); //brake "ducking"
if (reverse_enabled) {
cmd_send_toMotor-=brake_pos*reverse_speed;
cmd_send_toMotor_FL=_cmd_send_toMotor;
cmd_send_toMotor_FR=_cmd_send_toMotor;
cmd_send_toMotor_RL=_cmd_send_toMotor;
cmd_send_toMotor_RR=_cmd_send_toMotor;
// ## Experimental Tank steering
static float tanksteering_differential=0; //to ramp up slowly. value between -1.0 and 1.0
//Parameters:
int16_t tanksteering_max_speed=200;
float tanksteering_rate_increase=1.0; //increase units per second
float tanksteering_rate_decrease=1.5; //decrease units per second
if (control_buttonA && !control_buttonB && !reverse_enabled && throttle_pos<=0) { //Right button (A) only. and throttle touched
tanksteering_differential+=tanksteering_rate_increase*(timediff/1000.0);
tanksteering_differential=constrain(tanksteering_differential,-1.0,1.0); //constrain between 0 and 1
}else if(control_buttonB && !control_buttonA && !reverse_enabled && throttle_pos<=0) { //Left button (B) only. and throttle touched
tanksteering_differential-=tanksteering_rate_increase*(timediff/1000.0);
tanksteering_differential=constrain(tanksteering_differential,-1.0,1.0); //constrain between 0 and 1
}else{ //buttons released
if(tanksteering_differential>0) {
tanksteering_differential-=tanksteering_rate_decrease*(timediff/1000.0);
}else if(tanksteering_differential<0){
tanksteering_differential+=tanksteering_rate_decrease*(timediff/1000.0);
}
tanksteering_differential=constrain(tanksteering_differential,-1.0,1.0); //constrain between 0 and 1
}
cmd_send_toMotor_FL+=tanksteering_differential*tanksteering_max_speed;
cmd_send_toMotor_FR-=tanksteering_differential*tanksteering_max_speed;
cmd_send_toMotor_RL+=tanksteering_differential*tanksteering_max_speed;
cmd_send_toMotor_RR-=tanksteering_differential*tanksteering_max_speed;
// ## Braking, Reversing and Standstill movements below here ##
if (reverse_enabled) { //backwards driving not prohibited
_cmd_send_toMotor-=brake_pos*reverse_speed;
cmd_send_toMotor_FL=_cmd_send_toMotor;
cmd_send_toMotor_FR=_cmd_send_toMotor;
cmd_send_toMotor_RL=_cmd_send_toMotor;
cmd_send_toMotor_RR=_cmd_send_toMotor;
}
/*
float steeringdifferential_speed=0.1; //Speed for turning the steering wheel by differtially driving the front wheels
static bool reverse_enabled2=true; //pohibit instant reverse driving when releasing steering wheel buttons when brake is still pressed. wait for throttle and brake to release once
if (!reverse_enabled2 && throttle_pos<=0 && brake_pos<=0){
reverse_enabled2=true;
}
if (reverse_enabled) { //backwards driving not prohibited
if (control_buttonA && !control_buttonB) { //Right button (A) only
cmd_send_toMotor_FL+=brake_pos*steeringdifferential_speed;
cmd_send_toMotor_FR-=brake_pos*steeringdifferential_speed;
//cmd_send_toMotor_RL-=0;
//cmd_send_toMotor_RR-=0;
reverse_enabled2=false;
}else if(control_buttonB && !control_buttonA) { //Left button (B) only
cmd_send_toMotor_FL-=brake_pos*steeringdifferential_speed;
cmd_send_toMotor_FR+=brake_pos*steeringdifferential_speed;
//cmd_send_toMotor_RL-=0;
//cmd_send_toMotor_RR-=0;
reverse_enabled2=false;
}else if(reverse_enabled2){ //no button on steering wheel pressed, drive backwards
_cmd_send_toMotor-=brake_pos*reverse_speed;
cmd_send_toMotor_FL=_cmd_send_toMotor;
cmd_send_toMotor_FR=_cmd_send_toMotor;
cmd_send_toMotor_RL=_cmd_send_toMotor;
cmd_send_toMotor_RR=_cmd_send_toMotor;
}
}
*/
if (!controllers_connected || !armed) { //controllers not connected or not armed
cmd_send=0;
cmd_send_toMotor=0; //safety off
cmd_send_toMotor_FL=0; //safety off
cmd_send_toMotor_FR=0; //safety off
cmd_send_toMotor_RL=0; //safety off
cmd_send_toMotor_RR=0; //safety off
}
escFront.setSpeed(cmd_send_toMotor,cmd_send_toMotor);
escRear.setSpeed(cmd_send_toMotor,cmd_send_toMotor);
escFront.setSpeed(cmd_send_toMotor_FL,cmd_send_toMotor_FR);
escRear.setSpeed(cmd_send_toMotor_RL,cmd_send_toMotor_RR);
log_update=true;
}