add remote control ppm input
This commit is contained in:
parent
5a1734f181
commit
2868ab0bd2
|
|
@ -59,9 +59,7 @@
|
|||
"width": 0.0
|
||||
}
|
||||
],
|
||||
"drc_exclusions": [
|
||||
"lib_footprint_mismatch|93919000|108539000|df2709a9-a255-4f53-9496-85732562ad08|00000000-0000-0000-0000-000000000000"
|
||||
],
|
||||
"drc_exclusions": [],
|
||||
"meta": {
|
||||
"version": 2
|
||||
},
|
||||
|
|
|
|||
|
|
@ -8693,7 +8693,7 @@
|
|||
)
|
||||
(wire
|
||||
(pts
|
||||
(xy 209.55 31.75) (xy 209.55 33.655)
|
||||
(xy 198.12 31.75) (xy 198.12 35.56)
|
||||
)
|
||||
(stroke
|
||||
(width 0)
|
||||
|
|
@ -9363,7 +9363,7 @@
|
|||
)
|
||||
(wire
|
||||
(pts
|
||||
(xy 209.55 31.75) (xy 231.14 31.75)
|
||||
(xy 198.12 31.75) (xy 231.14 31.75)
|
||||
)
|
||||
(stroke
|
||||
(width 0)
|
||||
|
|
@ -10551,6 +10551,16 @@
|
|||
)
|
||||
(uuid "bcfd5886-f378-4947-9815-f92d60528bcf")
|
||||
)
|
||||
(wire
|
||||
(pts
|
||||
(xy 201.93 92.71) (xy 201.93 34.29)
|
||||
)
|
||||
(stroke
|
||||
(width 0)
|
||||
(type default)
|
||||
)
|
||||
(uuid "beaa63fa-5d4b-4486-b3ce-f0f5f5c78409")
|
||||
)
|
||||
(wire
|
||||
(pts
|
||||
(xy 49.53 96.52) (xy 69.85 96.52)
|
||||
|
|
@ -10821,6 +10831,16 @@
|
|||
)
|
||||
(uuid "dde8619c-5a8c-40eb-9845-65e6a654222d")
|
||||
)
|
||||
(wire
|
||||
(pts
|
||||
(xy 201.93 34.29) (xy 231.14 34.29)
|
||||
)
|
||||
(stroke
|
||||
(width 0)
|
||||
(type default)
|
||||
)
|
||||
(uuid "de2cede1-ffa3-413c-9082-8bda9711045c")
|
||||
)
|
||||
(wire
|
||||
(pts
|
||||
(xy 85.725 137.16) (xy 87.63 137.16)
|
||||
|
|
@ -10991,6 +11011,16 @@
|
|||
)
|
||||
(uuid "e848cb4e-e9be-4642-b62e-cfdc7033410f")
|
||||
)
|
||||
(wire
|
||||
(pts
|
||||
(xy 215.9 92.71) (xy 201.93 92.71)
|
||||
)
|
||||
(stroke
|
||||
(width 0)
|
||||
(type default)
|
||||
)
|
||||
(uuid "e95e6a1a-6ffa-4e61-b05c-fa534f81f2cf")
|
||||
)
|
||||
(wire
|
||||
(pts
|
||||
(xy 26.67 34.29) (xy 24.13 34.29)
|
||||
|
|
@ -11510,6 +11540,16 @@
|
|||
)
|
||||
(uuid "cee2f43a-7d22-4585-a857-73949bd17a9d")
|
||||
)
|
||||
(text "Bodge Wire added for PPM"
|
||||
(exclude_from_sim no)
|
||||
(at 212.852 33.782 0)
|
||||
(effects
|
||||
(font
|
||||
(size 1.27 1.27)
|
||||
)
|
||||
)
|
||||
(uuid "d8eede4c-b42c-44f8-a357-19b17939766b")
|
||||
)
|
||||
(text "black"
|
||||
(exclude_from_sim no)
|
||||
(at 60.325 99.06 0)
|
||||
|
|
@ -13980,7 +14020,7 @@
|
|||
)
|
||||
(symbol
|
||||
(lib_id "power:GNDD")
|
||||
(at 209.55 33.655 0)
|
||||
(at 198.12 35.56 0)
|
||||
(unit 1)
|
||||
(exclude_from_sim no)
|
||||
(in_bom yes)
|
||||
|
|
@ -13989,7 +14029,7 @@
|
|||
(fields_autoplaced yes)
|
||||
(uuid "073f2160-76bb-422b-a642-f8ccef9d914c")
|
||||
(property "Reference" "#PWR0111"
|
||||
(at 209.55 40.005 0)
|
||||
(at 198.12 41.91 0)
|
||||
(effects
|
||||
(font
|
||||
(size 1.27 1.27)
|
||||
|
|
@ -13998,7 +14038,7 @@
|
|||
)
|
||||
)
|
||||
(property "Value" "GNDD"
|
||||
(at 209.55 38.1 0)
|
||||
(at 198.12 40.005 0)
|
||||
(effects
|
||||
(font
|
||||
(size 1.27 1.27)
|
||||
|
|
@ -14006,7 +14046,7 @@
|
|||
)
|
||||
)
|
||||
(property "Footprint" ""
|
||||
(at 209.55 33.655 0)
|
||||
(at 198.12 35.56 0)
|
||||
(effects
|
||||
(font
|
||||
(size 1.27 1.27)
|
||||
|
|
@ -14015,7 +14055,7 @@
|
|||
)
|
||||
)
|
||||
(property "Datasheet" ""
|
||||
(at 209.55 33.655 0)
|
||||
(at 198.12 35.56 0)
|
||||
(effects
|
||||
(font
|
||||
(size 1.27 1.27)
|
||||
|
|
@ -14024,7 +14064,7 @@
|
|||
)
|
||||
)
|
||||
(property "Description" ""
|
||||
(at 209.55 33.655 0)
|
||||
(at 198.12 35.56 0)
|
||||
(effects
|
||||
(font
|
||||
(size 1.27 1.27)
|
||||
|
|
|
|||
|
|
@ -95,10 +95,11 @@ bool error_brake_outofrange=false;
|
|||
bool error_ads_max_read_interval=false;
|
||||
bool error_sdfile_unavailable=false;
|
||||
|
||||
#define REVERSE_ENABLE_TIME 500 //ms. how long standstill to be able to drive backward
|
||||
#define REVERSE_ENABLE_TIME 300 //ms. how long standstill to be able to drive backward
|
||||
|
||||
|
||||
#define NORMAL_MAX_ACCELERATION_RATE 10000
|
||||
#define MEDIUM_MAX_ACCELERATION_RATE 500
|
||||
#define SLOW_MAX_ACCELERATION_RATE 250
|
||||
int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send increase per second
|
||||
|
||||
|
|
|
|||
|
|
@ -16,10 +16,12 @@
|
|||
Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
|
||||
|
||||
uint8_t standingDisplayScreen=0;
|
||||
#define NUM_STANDINGDISPLAYSCREEN 4
|
||||
#define NUM_STANDINGDISPLAYSCREEN 5
|
||||
|
||||
#define DISPLAYSTANDSTILLTIME 5000
|
||||
|
||||
#include "rc.h"
|
||||
|
||||
bool display_init();
|
||||
void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear);
|
||||
void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
|
||||
|
|
@ -311,7 +313,7 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
|
|||
|
||||
switch(standingDisplayScreen)
|
||||
{
|
||||
case 0:
|
||||
case 0:
|
||||
//Quick overview of inputs and status
|
||||
|
||||
//Row1
|
||||
|
|
@ -405,7 +407,7 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
|
|||
|
||||
break;
|
||||
|
||||
case 3:
|
||||
case 3:
|
||||
//Raw inputs and Input Debug
|
||||
|
||||
//TODO: show deviation (and max deviation), show resulting throttle and brake pos
|
||||
|
|
@ -442,6 +444,42 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
|
|||
|
||||
break;
|
||||
|
||||
|
||||
case 4:
|
||||
//Row 1
|
||||
display.print(F("RC "));
|
||||
dtostrf(ppm[0],4,0,buf);
|
||||
display.print((String)buf);
|
||||
display.print(F("/"));
|
||||
dtostrf(ppm[1],4,0,buf);
|
||||
display.print((String)buf);
|
||||
display.println();
|
||||
|
||||
//Row 2
|
||||
|
||||
display.print(F("T"));
|
||||
dtostrf(getRCThrottle(),3,0,buf);
|
||||
display.print((String)buf);
|
||||
display.print(F(" B"));
|
||||
dtostrf(getRCBrake(),3,0,buf);
|
||||
display.print((String)buf);
|
||||
display.print(F(" S"));
|
||||
dtostrf(getRCSteer(),3,0,buf);
|
||||
display.print((String)buf);
|
||||
|
||||
display.println();
|
||||
|
||||
//Row 3
|
||||
display.print(F("Mode="));
|
||||
dtostrf(getRCMode(3),1,0,buf);
|
||||
display.print((String)buf);
|
||||
display.print(F(" %="));
|
||||
dtostrf(getPPMSuccessrate(),1,5,buf);
|
||||
display.print((String)buf);
|
||||
display.println();
|
||||
|
||||
break;
|
||||
|
||||
}
|
||||
|
||||
//Put User Inputs in last row
|
||||
|
|
|
|||
|
|
@ -31,6 +31,8 @@ unsigned long last_ledupdate=0;
|
|||
|
||||
uint8_t led_errorcount=0; //count led progress errors. used for delay at end if any errors occured
|
||||
|
||||
extern bool rc_enabled;
|
||||
|
||||
void led_dotcircle(unsigned long loopmillis);
|
||||
void led_gauge(unsigned long loopmillis,float value,float value_min,float value_max,uint32_t colorGauge,uint32_t colorBG);
|
||||
|
||||
|
|
@ -109,18 +111,22 @@ void led_update(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm&
|
|||
}else{
|
||||
|
||||
if (armed) {
|
||||
if (loopmillis-last_notidle>5000) {
|
||||
//Standing
|
||||
float vbat=min(escRear.getFeedback_batVoltage(),escFront.getFeedback_batVoltage());
|
||||
led_gauge(loopmillis,vbat,3.3*12,4.2*12,strip.Color(0, 255, 0, 0),strip.Color(100, 0, 0, 0));
|
||||
}else{
|
||||
//Driving
|
||||
float currentMean=escRear.getFiltered_curL()+escRear.getFiltered_curR()+escFront.getFiltered_curL()+escFront.getFiltered_curR();
|
||||
uint32_t _bgColor=strip.Color(0, 0, 20, 0);
|
||||
if (reverse_enabled) {
|
||||
_bgColor=strip.Color(20, 0, 20, 0);
|
||||
if (rc_enabled) {
|
||||
led_gauge(loopmillis,escFront.getCmdL(),0,1000,strip.Color(100, 0, 0, 0),strip.Color(0, 50, 50, 0));
|
||||
}else{ //normal driving
|
||||
if (loopmillis-last_notidle>5000) {
|
||||
//Standing
|
||||
float vbat=min(escRear.getFeedback_batVoltage(),escFront.getFeedback_batVoltage());
|
||||
led_gauge(loopmillis,vbat,3.3*12,4.2*12,strip.Color(0, 255, 0, 0),strip.Color(100, 0, 0, 0));
|
||||
}else{
|
||||
//Driving
|
||||
float currentMean=escRear.getFiltered_curL()+escRear.getFiltered_curR()+escFront.getFiltered_curL()+escFront.getFiltered_curR();
|
||||
uint32_t _bgColor=strip.Color(0, 0, 20, 0);
|
||||
if (reverse_enabled) {
|
||||
_bgColor=strip.Color(20, 0, 20, 0);
|
||||
}
|
||||
led_gauge(loopmillis,currentMean,0,32.0,strip.Color(0, 0, 0, 255),_bgColor);
|
||||
}
|
||||
led_gauge(loopmillis,currentMean,0,32.0,strip.Color(0, 0, 0, 255),_bgColor);
|
||||
}
|
||||
}else{
|
||||
//Disarmed
|
||||
|
|
|
|||
|
|
@ -0,0 +1,124 @@
|
|||
#ifndef _RC_H_
|
||||
#define _RC_H_
|
||||
|
||||
|
||||
#define RC
|
||||
|
||||
#include <PulsePosition.h>
|
||||
PulsePositionInput ppmIn;
|
||||
|
||||
#define PPMREADPERIOD 20 //period for d4r-ii is 18ms
|
||||
static int count=0;
|
||||
|
||||
#define PIN_PPM 9
|
||||
|
||||
#define PPM_CHANNELS 8
|
||||
#define PPM_SAVE_MIN 950 //minimum allowed for valid data
|
||||
#define PPM_SAVE_MAX 2050 //maximum allowed for valid data
|
||||
#define PPM_MIN 1000
|
||||
#define PPM_MAX 2000
|
||||
#define PPM_MID 1500
|
||||
#define PPM_DEADBAND 5
|
||||
#define PPM_CHANNEL_THROTTLE 1
|
||||
#define PPM_CHANNEL_STEER 2
|
||||
#define PPM_CHANNEL_MODE 5
|
||||
float ppm[PPM_CHANNELS];
|
||||
|
||||
unsigned long ppm_count_success=0;
|
||||
unsigned long ppm_count_fail=0;
|
||||
|
||||
void initRC();
|
||||
void readPPM(unsigned long loopmillis);
|
||||
void printPPM();
|
||||
|
||||
int16_t getRCThrottle();
|
||||
int16_t getRCSteer();
|
||||
uint8_t getRCMode(uint8_t modes);
|
||||
|
||||
bool rc_enabled=false;
|
||||
|
||||
void initRC() {
|
||||
ppmIn.begin(PIN_PPM);
|
||||
}
|
||||
|
||||
void readPPM(unsigned long loopmillis) {
|
||||
static unsigned long ppm_last_received=0;
|
||||
static unsigned long ppm_last_received_success=0;
|
||||
int ppm_num = ppmIn.available();
|
||||
if (ppm_num > 0) {
|
||||
bool ppm_ok=true;
|
||||
ppm_last_received=loopmillis;
|
||||
float new_ppm[PPM_CHANNELS];
|
||||
if (ppm_num != PPM_CHANNELS) {
|
||||
ppm_ok=false;
|
||||
}else{
|
||||
for (int i=1; i <= ppm_num; i++) {
|
||||
float val=ppmIn.read(i);
|
||||
new_ppm[i-1]=val;
|
||||
if (val<PPM_SAVE_MIN || val>PPM_SAVE_MAX) {
|
||||
ppm_ok=false;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
if (ppm_ok) {
|
||||
ppm_count_success+=1;
|
||||
ppm_last_received_success=loopmillis;
|
||||
std::copy(std::begin(new_ppm), std::end(new_ppm), std::begin(ppm));
|
||||
}else{
|
||||
ppm_count_fail+=1;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
float getPPMSuccessrate() {
|
||||
float rate=ppm_count_success*1.0/(ppm_count_success+ppm_count_fail);
|
||||
if (ppm_count_success+ppm_count_fail>500) {
|
||||
ppm_count_success=0;
|
||||
ppm_count_fail=0;
|
||||
}
|
||||
return rate;
|
||||
}
|
||||
|
||||
//Return value 0 - 1000
|
||||
int16_t getRCThrottle() {
|
||||
return constrain(map(ppm[PPM_CHANNEL_THROTTLE-1],PPM_MID+PPM_DEADBAND,PPM_MAX,0,1000), 0,1000);
|
||||
}
|
||||
|
||||
int16_t getRCBrake() {
|
||||
return constrain(map(ppm[PPM_CHANNEL_THROTTLE-1],PPM_MID-PPM_DEADBAND,PPM_MIN,0,1000), 0,1000);
|
||||
}
|
||||
|
||||
//Return value -1000 - 1000
|
||||
int16_t getRCSteer() {
|
||||
if (ppm[PPM_CHANNEL_STEER-1]>PPM_MID+PPM_DEADBAND){
|
||||
return constrain(map(ppm[PPM_CHANNEL_STEER-1],PPM_MID+PPM_DEADBAND,PPM_MAX,0,1000), 0,1000);
|
||||
}else if (ppm[PPM_CHANNEL_STEER-1]<PPM_MID-PPM_DEADBAND){
|
||||
return constrain(map(ppm[PPM_CHANNEL_STEER-1],PPM_MID-PPM_DEADBAND,PPM_MIN,0,-1000), -1000,0);
|
||||
}else{
|
||||
return 0;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
//Return descrete value for equidistant ranges. modes = number of ranges.
|
||||
uint8_t getRCMode(uint8_t modes) {
|
||||
float v=constrain(map(ppm[PPM_CHANNEL_MODE-1],PPM_MIN,PPM_MAX,0.0,1.0), 0.0,0.999);
|
||||
return uint8_t(v*modes);
|
||||
}
|
||||
|
||||
|
||||
void printPPM(unsigned long loopmillis){
|
||||
|
||||
count = count + 1;
|
||||
Serial.print("ms :");
|
||||
Serial.print(count);
|
||||
Serial.print(" : ");
|
||||
for (int i=1; i <= PPM_CHANNELS; i++) {
|
||||
Serial.print(ppm[i-1]);
|
||||
Serial.print(" ");
|
||||
}
|
||||
Serial.println();
|
||||
}
|
||||
|
||||
#endif
|
||||
|
|
@ -26,6 +26,7 @@ lib_deps =
|
|||
adafruit/Adafruit SSD1306@^2.5.7
|
||||
https://github.com/adafruit/Adafruit_NeoPixel
|
||||
https://github.com/milesburton/Arduino-Temperature-Control-Library/
|
||||
https://github.com/PaulStoffregen/PulsePosition
|
||||
|
||||
|
||||
[env:teensy31]
|
||||
|
|
|
|||
|
|
@ -21,10 +21,12 @@ String getLogFilename();
|
|||
bool getDatalogging();
|
||||
#include "display.h"
|
||||
#include "logging.h"
|
||||
#include "rc.h"
|
||||
|
||||
#include "ADS1X15.h"
|
||||
|
||||
|
||||
|
||||
//#define CALIBRATION_THROTTLE_CURVE //uncomment to enable throttleA and B serial output on button press
|
||||
|
||||
|
||||
|
|
@ -174,6 +176,10 @@ void setup()
|
|||
|
||||
initTemperature();
|
||||
led_simpeProgress(9,true);
|
||||
|
||||
initRC();
|
||||
|
||||
led_simpeProgress(10,true);
|
||||
|
||||
|
||||
|
||||
|
|
@ -219,6 +225,13 @@ void loop() {
|
|||
readADSButtons();
|
||||
}
|
||||
|
||||
|
||||
static unsigned long last_ppmread=0;
|
||||
if (loopmillis - last_ppmread > PPMREADPERIOD) { //read digital input states
|
||||
last_ppmread=loopmillis;
|
||||
readPPM(loopmillis);
|
||||
}
|
||||
|
||||
|
||||
failChecks();
|
||||
|
||||
|
|
@ -398,14 +411,7 @@ void readADC() {
|
|||
|
||||
|
||||
|
||||
if (throttle_pos>0 || ((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0) >0.5 || (!reverse_enabled && brake_pos>0)) { //reset idle time on these conditions (disables reverse driving)
|
||||
last_notidle=loopmillis;
|
||||
reverse_enabled=false;
|
||||
}
|
||||
|
||||
if (loopmillis-last_notidle > REVERSE_ENABLE_TIME) {
|
||||
reverse_enabled=true;
|
||||
}
|
||||
|
||||
int16_t throttlebreak_pos = throttle_pos-brake_pos*2; //reduce throttle_when applying brake
|
||||
throttle_pos=constrain(throttlebreak_pos,0,1000);
|
||||
|
|
@ -503,9 +509,39 @@ void failChecks() {
|
|||
void calculateSetSpeed(unsigned long timediff){
|
||||
|
||||
int16_t adjusted_throttle_pos=constrain(throttle_pos*(throttle_max/1000.0),0,throttle_max);
|
||||
int16_t brake_pos_linear=brake_pos;
|
||||
int16_t brake_pos_expo = (int16_t)(pow((brake_pos_linear/1000.0),2)*1000);
|
||||
|
||||
int16_t brake_pos_expo = (int16_t)(pow((brake_pos/1000.0),2)*1000);
|
||||
|
||||
|
||||
#ifdef RC
|
||||
if (throttle_pos>0 || brake_pos>0) { //touch any pedal to cancel rc mode
|
||||
rc_enabled=false;
|
||||
}
|
||||
|
||||
if (rc_enabled) {
|
||||
int16_t rcthrottle_pos=getRCThrottle();
|
||||
int16_t rcbrake_pos=getRCBrake();
|
||||
|
||||
|
||||
adjusted_throttle_pos=constrain(rcthrottle_pos*(throttle_max/1000.0),0,throttle_max); //overwrite with rc values
|
||||
brake_pos_linear=rcbrake_pos;
|
||||
brake_pos_expo = (int16_t)(pow((brake_pos_linear/1000.0),2)*1000);
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
//Reverse Enable
|
||||
if (throttle_pos>0 || ((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0) >0.5 || (!reverse_enabled && brake_pos_linear>0)) { //reset idle time on these conditions (disables reverse driving)
|
||||
last_notidle=loopmillis;
|
||||
reverse_enabled=false;
|
||||
}
|
||||
if (loopmillis-last_notidle > REVERSE_ENABLE_TIME) {
|
||||
reverse_enabled=true;
|
||||
}
|
||||
|
||||
|
||||
//Throttle Management
|
||||
float brakepedal_current_multiplier=startbrakecurrent/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000)
|
||||
|
||||
int16_t cmdreduce_constant=map(brake_pos_expo,0,1000,0,(int16_t)(brake_cmdreduce_proportional*timediff/1000)); //reduce cmd value every cycle
|
||||
|
|
@ -538,7 +574,7 @@ void calculateSetSpeed(unsigned long timediff){
|
|||
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"
|
||||
int16_t _cmd_send_toMotor=constrain(cmd_send* (1.0-(brake_pos_expo*0.5/1000.0) ) ,0,throttle_max); //brake "ducking"
|
||||
|
||||
|
||||
cmd_send_toMotor_FL=_cmd_send_toMotor;
|
||||
|
|
@ -546,6 +582,17 @@ void calculateSetSpeed(unsigned long timediff){
|
|||
cmd_send_toMotor_RL=_cmd_send_toMotor;
|
||||
cmd_send_toMotor_RR=_cmd_send_toMotor;
|
||||
|
||||
#ifdef RC
|
||||
int16_t differential_steering_max=100;
|
||||
|
||||
if (rc_enabled) {
|
||||
float rcsteer=getRCSteer()/1000.0;
|
||||
cmd_send_toMotor_FL+=rcsteer*differential_steering_max;
|
||||
cmd_send_toMotor_FR-=rcsteer*differential_steering_max;
|
||||
}
|
||||
|
||||
#endif
|
||||
|
||||
|
||||
|
||||
#ifdef DRIVING_TANKSTEERING
|
||||
|
|
@ -589,7 +636,7 @@ void calculateSetSpeed(unsigned long timediff){
|
|||
// ## Braking, Reversing and Standstill movements below here ##
|
||||
/*
|
||||
if (reverse_enabled) { //backwards driving not prohibited
|
||||
_cmd_send_toMotor-=brake_pos*reverse_speed;
|
||||
_cmd_send_toMotor-=brake_pos_linear*reverse_speed;
|
||||
|
||||
cmd_send_toMotor_FL=_cmd_send_toMotor;
|
||||
cmd_send_toMotor_FR=_cmd_send_toMotor;
|
||||
|
|
@ -600,7 +647,7 @@ void calculateSetSpeed(unsigned long timediff){
|
|||
*/
|
||||
|
||||
|
||||
float steeringdifferential_speed=0.3; //Speed for turning the steering wheel by differtially driving the front wheels
|
||||
float steeringdifferential_speed=0.4; //Speed for turning the steering wheel by differtially driving the front wheels
|
||||
|
||||
if (reverse_enabled) { //backwards driving not prohibited
|
||||
static bool tanksteering_prohibit_left=false;
|
||||
|
|
@ -616,7 +663,7 @@ void calculateSetSpeed(unsigned long timediff){
|
|||
}else if(!control_buttonA && !control_buttonB){ //no button pressed
|
||||
tanksteering_prohibit_left=true;
|
||||
tanksteering_prohibit_right=true;
|
||||
if (throttle_pos<=0 && brake_pos<=0) {//levers released
|
||||
if (throttle_pos<=0 && brake_pos_linear<=0) {//levers released
|
||||
tanksteering_prohibit_left=false;
|
||||
tanksteering_prohibit_right=false;
|
||||
prohibit_reverse=false;
|
||||
|
|
@ -624,17 +671,17 @@ void calculateSetSpeed(unsigned long timediff){
|
|||
}
|
||||
|
||||
if (!tanksteering_prohibit_right && tanksteering_prohibit_left && prohibit_reverse) { //Right Tanksteering
|
||||
cmd_send_toMotor_FL+=brake_pos*steeringdifferential_speed;
|
||||
cmd_send_toMotor_FR-=brake_pos*steeringdifferential_speed;
|
||||
cmd_send_toMotor_RL+=brake_pos*steeringdifferential_speed;
|
||||
cmd_send_toMotor_RR-=brake_pos*steeringdifferential_speed;
|
||||
cmd_send_toMotor_FL+=brake_pos_expo*steeringdifferential_speed;
|
||||
cmd_send_toMotor_FR-=brake_pos_expo*steeringdifferential_speed;
|
||||
cmd_send_toMotor_RL+=brake_pos_expo*steeringdifferential_speed;
|
||||
cmd_send_toMotor_RR-=brake_pos_expo*steeringdifferential_speed;
|
||||
}else if(tanksteering_prohibit_right && !tanksteering_prohibit_left && prohibit_reverse) { //Left Tanksteering
|
||||
cmd_send_toMotor_FL-=brake_pos*steeringdifferential_speed;
|
||||
cmd_send_toMotor_FR+=brake_pos*steeringdifferential_speed;
|
||||
cmd_send_toMotor_RL-=brake_pos*steeringdifferential_speed;
|
||||
cmd_send_toMotor_RR+=brake_pos*steeringdifferential_speed;
|
||||
cmd_send_toMotor_FL-=brake_pos_expo*steeringdifferential_speed;
|
||||
cmd_send_toMotor_FR+=brake_pos_expo*steeringdifferential_speed;
|
||||
cmd_send_toMotor_RL-=brake_pos_expo*steeringdifferential_speed;
|
||||
cmd_send_toMotor_RR+=brake_pos_expo*steeringdifferential_speed;
|
||||
}else if(tanksteering_prohibit_right && tanksteering_prohibit_left && !prohibit_reverse){ //no button on steering wheel pressed, drive backwards
|
||||
_cmd_send_toMotor-=brake_pos*reverse_speed;
|
||||
_cmd_send_toMotor-=brake_pos_expo*reverse_speed;
|
||||
|
||||
cmd_send_toMotor_FL=_cmd_send_toMotor;
|
||||
cmd_send_toMotor_FR=_cmd_send_toMotor;
|
||||
|
|
@ -716,18 +763,28 @@ void readButtons() {
|
|||
if (escFront.getControllerConnected() && escRear.getControllerConnected()) {
|
||||
armed=true; //arm if button pressed long enough
|
||||
writeLogComment(loopmillis, "Armed by button");
|
||||
if (control_buttonA) { //button A is held down during start button press
|
||||
rc_enabled=false;
|
||||
if (control_buttonA && control_buttonB) { //button A and B is held down during start button press
|
||||
throttle_max=250;
|
||||
reverse_speed=0.15;
|
||||
max_acceleration_rate=MEDIUM_MAX_ACCELERATION_RATE;
|
||||
rc_enabled=true;
|
||||
writeLogComment(loopmillis, "Mode: RC");
|
||||
}else if (control_buttonA) { //button A is held down during start button press
|
||||
throttle_max=1000;
|
||||
reverse_speed=0.25;
|
||||
max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
|
||||
writeLogComment(loopmillis, "Mode: Fast");
|
||||
}else if (control_buttonB) { //button B is held down during start button press
|
||||
throttle_max=750;
|
||||
reverse_speed=0.25;
|
||||
max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
|
||||
writeLogComment(loopmillis, "Mode: Medium");
|
||||
}else { //no control button pressed during start
|
||||
throttle_max=250;
|
||||
reverse_speed=0.15;
|
||||
max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
|
||||
writeLogComment(loopmillis, "Mode: Slow");
|
||||
}
|
||||
|
||||
}else{
|
||||
|
|
|
|||
Loading…
Reference in New Issue