optimize rc control

Bobbycar_wiring/Bobbycar_wiring.kicad_pro

@@ -59,7 +59,9 @@
           "width": 0.0
         }
       ],
-      "drc_exclusions": [],
+      "drc_exclusions": [
+        "lib_footprint_mismatch|93919000|108539000|df2709a9-a255-4f53-9496-85732562ad08|00000000-0000-0000-0000-000000000000"
+      ],
       "meta": {
         "version": 2
       },

Bobbycar_wiring/Bobbycar_wiring.kicad_sch

@@ -10551,16 +10551,6 @@
 		)
 		(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)
@@ -10831,16 +10821,6 @@
 		)
 		(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)
@@ -11011,16 +10991,6 @@
 		)
 		(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)
@@ -11540,16 +11510,6 @@
 		)
 		(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)

controller_teensy/.vscode/c_cpp_properties.json

@@ -14,6 +14,7 @@
                 "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SdFat/src",
                 "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Time",
                 "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/lib/hoverboard-esc-serial-comm/src",
+                "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/PulsePosition",
                 "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/DallasTemperature",
                 "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/OneWire",
                 "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/VirtualWire",
@@ -129,6 +130,7 @@
                     "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SdFat/src",
                     "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Time",
                     "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/lib/hoverboard-esc-serial-comm/src",
+                    "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/PulsePosition",
                     "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/DallasTemperature",
                     "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/OneWire",
                     "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/VirtualWire",

controller_teensy/.vscode/settings.json

@@ -1,3 +1,48 @@
 {
-    "cmake.configureOnOpen": false
+    "cmake.configureOnOpen": false,
+    "files.associations": {
+        "algorithm": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "random": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "initializer_list": "cpp",
+        "iosfwd": "cpp",
+        "limits": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "cinttypes": "cpp",
+        "typeinfo": "cpp"
+    }
 }

controller_teensy/include/display.h

@@ -137,6 +137,17 @@ void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
   display.setCursor(SCREEN_WIDTH-25,SCREEN_HEIGHT-16);
   display.print("km/h");
 
+#ifdef RC
+  display.setCursor(0,0);
+  if (rc_fullcontrol_enabled) {
+    display.print("RC Fullcontrol");
+  }else if(rc_steer_enabled){
+    display.print("RC Steering");
+  }
+  
+  
+#endif
+
   //A
   display.setCursor(SCREEN_WIDTH-37,1);
   static float averaged_filtered_currentAll;
@@ -471,7 +482,7 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
 
     //Row 3
     display.print(F("Mode="));
-    dtostrf(getRCMode(3),1,0,buf);
+    dtostrf(getRCMode(6),1,0,buf);
     display.print((String)buf);
     display.print(F(" %="));
     dtostrf(getPPMSuccessrate(),1,5,buf);

controller_teensy/include/led.h

@@ -31,7 +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;
+extern bool rc_fullcontrol_enabled; //from rc.h
+extern bool rc_steer_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);
@@ -111,7 +112,7 @@ void led_update(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm&
         }else{
                     
             if (armed) {
-                if (rc_enabled) {
+                if (rc_fullcontrol_enabled || rc_steer_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) {

controller_teensy/include/rc.h

@@ -35,19 +35,17 @@ int16_t getRCThrottle();
 int16_t getRCSteer();
 uint8_t getRCMode(uint8_t modes);
 
-bool rc_enabled=false;
+bool rc_fullcontrol_enabled=false; //full remote control. can be cancelled by button press
+bool rc_steer_enabled=false; //only rc steering
 
 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;
@@ -63,7 +61,6 @@ void readPPM(unsigned long loopmillis) {
         
         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;

controller_teensy/src/main.cpp

@@ -515,11 +515,11 @@ void calculateSetSpeed(unsigned long timediff){
 
 
 #ifdef RC
-  if (throttle_pos>0 || brake_pos>0) { //touch any pedal to cancel rc mode
+  if (throttle_pos>0 || brake_pos>0) { //touch any pedal to cancel rc fullcontrol mode
-    rc_enabled=false;
+    rc_fullcontrol_enabled=false;
   }
 
-  if (rc_enabled) {
+  if (rc_fullcontrol_enabled) {
     int16_t rcthrottle_pos=getRCThrottle();
     int16_t rcbrake_pos=getRCBrake();
     
@@ -583,13 +583,25 @@ void calculateSetSpeed(unsigned long timediff){
   cmd_send_toMotor_RR=_cmd_send_toMotor;
 
 #ifdef RC
-  int16_t differential_steering_max=100;
+  int16_t differential_steering_max=200;
 
-  if (rc_enabled) {
+  #define RC_STEER_ENABLE_WAITTIME 1000/SENDPERIOD*2; //in cycles. every SENDPERIOD
+  static uint16_t rc_steer_enable_wait=0; //give some time to release buttons after arming with rc mode to not cancel immediately
+  if (rc_steer_enabled) {
+    if (rc_steer_enable_wait>0) {
+      rc_steer_enable_wait--;
+    }else{ //allow control when counter reached 0
+      if (control_buttonA || control_buttonB) { //cancel rc modes by button press
+        rc_fullcontrol_enabled=false;
+        rc_steer_enabled=false;
+      }
       float rcsteer=getRCSteer()/1000.0;
       cmd_send_toMotor_FL+=rcsteer*differential_steering_max;
       cmd_send_toMotor_FR-=rcsteer*differential_steering_max;
     }
+  }else{
+    rc_steer_enable_wait=RC_STEER_ENABLE_WAITTIME;
+  }
 
 #endif
 
@@ -671,22 +683,22 @@ void calculateSetSpeed(unsigned long timediff){
     }
 
     if (!tanksteering_prohibit_right && tanksteering_prohibit_left && prohibit_reverse) { //Right Tanksteering
-      cmd_send_toMotor_FL+=brake_pos_expo*steeringdifferential_speed;
+      cmd_send_toMotor_FL+=brake_pos_linear*steeringdifferential_speed;
-      cmd_send_toMotor_FR-=brake_pos_expo*steeringdifferential_speed;
+      cmd_send_toMotor_FR-=brake_pos_linear*steeringdifferential_speed;
-      cmd_send_toMotor_RL+=brake_pos_expo*steeringdifferential_speed;
+      cmd_send_toMotor_RL+=brake_pos_linear*steeringdifferential_speed;
-      cmd_send_toMotor_RR-=brake_pos_expo*steeringdifferential_speed;
+      cmd_send_toMotor_RR-=brake_pos_linear*steeringdifferential_speed;
     }else if(tanksteering_prohibit_right && !tanksteering_prohibit_left && prohibit_reverse) { //Left Tanksteering
-      cmd_send_toMotor_FL-=brake_pos_expo*steeringdifferential_speed;
+      cmd_send_toMotor_FL-=brake_pos_linear*steeringdifferential_speed;
-      cmd_send_toMotor_FR+=brake_pos_expo*steeringdifferential_speed;
+      cmd_send_toMotor_FR+=brake_pos_linear*steeringdifferential_speed;
-      cmd_send_toMotor_RL-=brake_pos_expo*steeringdifferential_speed;
+      cmd_send_toMotor_RL-=brake_pos_linear*steeringdifferential_speed;
-      cmd_send_toMotor_RR+=brake_pos_expo*steeringdifferential_speed;
+      cmd_send_toMotor_RR+=brake_pos_linear*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_expo*reverse_speed;
+      int16_t cmd_send_brake=brake_pos_linear*reverse_speed;
 
-      cmd_send_toMotor_FL=_cmd_send_toMotor;
+      cmd_send_toMotor_FL-=cmd_send_brake;
-      cmd_send_toMotor_FR=_cmd_send_toMotor;
+      cmd_send_toMotor_FR-=cmd_send_brake;
-      cmd_send_toMotor_RL=_cmd_send_toMotor;
+      cmd_send_toMotor_RL-=cmd_send_brake;
-      cmd_send_toMotor_RR=_cmd_send_toMotor;
+      cmd_send_toMotor_RR-=cmd_send_brake;
     }
   }
   
@@ -763,13 +775,62 @@ void readButtons() {
     if (escFront.getControllerConnected() && escRear.getControllerConnected()) {
       armed=true; //arm if button pressed long enough
       writeLogComment(loopmillis, "Armed by button");
-      rc_enabled=false;
+      rc_fullcontrol_enabled=false;
+      rc_steer_enabled=false;
       if (control_buttonA && control_buttonB) { //button A and B is held down during start button press
+        uint8_t rcmode=getRCMode(6);
+        if (getRCThrottle()==0 && getRCBrake()==0) {
+          switch (rcmode) {
+            case 0:
+              throttle_max=250;
+              reverse_speed=0.15;
+              max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
+              writeLogComment(loopmillis, "Mode: RC 0");
+            break;
+
+            case 1:
               throttle_max=250;
               reverse_speed=0.15;
               max_acceleration_rate=MEDIUM_MAX_ACCELERATION_RATE;
-        rc_enabled=true;
+              writeLogComment(loopmillis, "Mode: RC 1");
-        writeLogComment(loopmillis, "Mode: RC");
+            break;
+
+            case 2:
+              throttle_max=300;
+              reverse_speed=0.2;
+              max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
+              writeLogComment(loopmillis, "Mode: RC 2");
+            break;
+
+            case 3:
+              throttle_max=400;
+              reverse_speed=0.25;
+              max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
+              writeLogComment(loopmillis, "Mode: RC 3");
+            break;
+
+            case 4:
+              throttle_max=600;
+              reverse_speed=0.25;
+              max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
+              writeLogComment(loopmillis, "Mode: RC 4");
+            break;
+
+            case 5:
+              throttle_max=750;
+              reverse_speed=0.25;
+              max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
+              writeLogComment(loopmillis, "Mode: RC 5");
+            break;
+          }
+          
+          rc_fullcontrol_enabled=true;
+          rc_steer_enabled=true;
+        }else{
+          writeLogComment(loopmillis, "Not Arming. RC throttle and brake not zero");
+          armed=false;
+        }
+          
       }else if (control_buttonA) { //button A is held down during start button press
         throttle_max=1000;
         reverse_speed=0.25;

logdata_visualization/analyze.py

@@ -7,6 +7,13 @@ import numpy as np
 
 import argparse
 
+def mapRange(value, inMin, inMax, outMin, outMax,constrain=False):
+    if constrain:
+        return max(outMin, min(outMax, outMin + (((value - inMin) / (inMax - inMin)) * (outMax - outMin))))
+    else:
+        return outMin + (((value - inMin) / (inMax - inMin)) * (outMax - outMin))
+
+
 parser = argparse.ArgumentParser(description='Analyzes fixed csv logs from bobbycar')
 parser.add_argument('-i', '--input', type=argparse.FileType('r'), required=True, help="input csv log file")
 args = parser.parse_args()
@@ -17,6 +24,8 @@ x = df['timestamp']
 x = [i-x[0] for i in x] #offset time by starttime
 
 
+
+def template():
     scattersize=1
     scatteralpha=0.1
 
@@ -27,12 +36,21 @@ ax2 = ax1.twinx()
 
 
     #plt.scatter(x,df['rpm_FrontL'], s=scattersize, alpha=scatteralpha, label="rpm_FrontL")
-ax1.plot(x,np.array(df['vbat_Front']), c='b', alpha=0.5, label="vbat_Front")
+    ax1.plot(x,np.array(df['temp_Front']), c='#0000ff', alpha=0.5, label="temp_Front")
-ax1.plot(x,np.array(df['vbat_Rear']), c='r', alpha=0.5, label="vbat_Rear")
+    ax1.plot(x,np.array(df['temp_Rear']), c='#ff0000', alpha=0.5, label="temp_Rear")
-ax2.plot(x,np.array(df['rpm_FrontL']), c='g', alpha=0.5, label="rpm_FrontL")
+    ax1.plot(x,np.array(df['temp_Air']), c='#00ff00', alpha=0.5, label="temp_Air")
-#plt.plot(x,np.array(df['currentConsumed']), c='g', alpha=0.5, label="currentConsumed")
+    #ax2.plot(x,np.array(df['throttle']), c='g', alpha=0.5, label="throttle")
 
-#plt.scatter(x,df['rpm_FrontR'], s=scattersize, alpha=scatteralpha, label="rpm_FrontR")
+
+    #confidence
+    #confidence_FrontL=[abs(x-df['cmd_FrontL'][i-5 if i>4 else 0])+abs(x-df['cmd_FrontL'][i-10 if i>9 else 0])+abs(x-df['cmd_FrontL'][i-20 if i>19 else 0]) for i,x in enumerate(df['cmd_FrontL'])]
+    #confidence_FrontL=[mapRange(x,0,50,1.0,0.0,True) for x in confidence_FrontL]
+
+    
+    #ax1.scatter(df['cmd_FrontL'],df['rpm_FrontL'], s=scattersize, alpha=scatteralpha, label="FrontL")
+    #ax1.scatter(df['cmd_FrontR'],df['rpm_FrontR'], s=scattersize, alpha=scatteralpha, label="FrontR")
+    #ax1.scatter(df['cmd_RearL'],df['rpm_RearL'], s=scattersize, alpha=scatteralpha, label="RearL")
+    #ax1.scatter(df['cmd_RearR'],df['rpm_RearR'], s=scattersize, alpha=scatteralpha, label="RearR")
 
     ax1.set_xlabel('timestamp')
     #plt.ylabel('data')
@@ -44,4 +62,53 @@ ax2.legend(loc='upper right')
     plt.show()
 
 
+def rpmDifference():
+    scattersize=1
+    scatteralpha=0.1
+
+
+    fig, ax1 = plt.subplots()
+
+    #confidence_FrontL=[abs(x-df['cmd_FrontL'][i-5 if i>4 else 0])+abs(x-df['cmd_FrontL'][i-10 if i>9 else 0])+abs(x-df['cmd_FrontL'][i-20 if i>19 else 0]) for i,x in enumerate(df['cmd_FrontL'])]
+    frontRPMdiff=np.convolve(np.array(df['rpm_FrontL'])-np.array(df['rpm_FrontR']), np.ones(10)/10, mode='same')
+    rearRPMdiff=np.convolve(np.array(df['rpm_RearL'])-np.array(df['rpm_RearR']), np.ones(10)/10, mode='same')
+    
+    ax1.plot(x,frontRPMdiff, c='#0000ff', alpha=0.5, label="rpm Difference Front")
+    ax1.plot(x,rearRPMdiff, c='#00ff00', alpha=0.5, label="rpm Difference Rear")
+   
+    ax1.set_xlabel('timestamp')
+    ax1.set_ylabel('rpm Difference')
+    ax1.legend(loc='upper left')
+    plt.show()
+
+
+def plot_rpmVsCurrent():
+    scattersize=2
+    scatteralpha=0.5
+
+    #confidence
+    #confidence_FrontL=[abs(x-df['cmd_FrontL'][i-5 if i>4 else 0])+abs(x-df['cmd_FrontL'][i-10 if i>9 else 0])+abs(x-df['cmd_FrontL'][i-20 if i>19 else 0]) for i,x in enumerate(df['cmd_FrontL'])]
+    #confidence_FrontL=[mapRange(x,0,50,1.0,0.0,True) for x in confidence_FrontL]
+
+
+
+    fig, ax1 = plt.subplots()
+    ax1.scatter(df['rpm_FrontL'],df['current_FrontL'], s=5, alpha=scatteralpha, label="FrontL")
+    ax1.scatter(df['rpm_FrontR'],df['current_FrontR'], s=5, alpha=scatteralpha, label="FrontR")
+    #ax1.scatter(df['cmd_FrontR'],df['rpm_FrontR'], s=scattersize, alpha=scatteralpha, label="FrontR")
+    #ax1.scatter(df['cmd_RearL'],df['rpm_RearL'], s=scattersize, alpha=scatteralpha, label="RearL")
+    #ax1.scatter(df['cmd_RearR'],df['rpm_RearR'], s=scattersize, alpha=scatteralpha, label="RearR")
+
+    ax1.set_xlabel('rpm')
+    ax1.set_ylabel('current (A)')
+    plt.title('rpm vs current')
+    ax1.legend(loc='upper left')
+    plt.show()
+
+
+#plot_rpmVsCurrent()
+rpmDifference()
+
+
+
 exit()