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base: interfisch:07d6aa5e3e5ce6e8d9dcf82febe3e4d298f01eda
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interfisch:master
interfisch:20240628
interfisch:20420613
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compare: interfisch:4ef6e7448be004d0a0cddadb77f436e21843d057
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interfisch:master
interfisch:20240628
interfisch:20420613

2 Commits
07d6aa5e3e ... 4ef6e7448b

Author SHA1 Message Date
interfisch 4ef6e7448b fix tank steering in standstill 2024-07-20 01:56:48 +02:00
interfisch 7734c41809 fix warning in print function 2024-07-19 22:57:12 +02:00
2 changed files with 23 additions and 12 deletions
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2
controller_teensy/include/display.h
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@ -344,7 +344,7 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
display.setCursor(6*10,0);
dtostrf((escFront.getFeedback_batVoltage()+escRear.getFeedback_batVoltage())/2.0,1,1,buf);
display.print((String)buf);
display.print(F('V'));
display.print(F("V"));
display.println();

33
controller_teensy/src/main.cpp
View File

@ -607,27 +607,38 @@ void calculateSetSpeed(unsigned long timediff){
float steeringdifferential_speed=0.3; //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
static bool tanksteering_prohibit_left=false;
static bool tanksteering_prohibit_right=false;
static bool prohibit_reverse=false;
if (control_buttonA && !control_buttonB) { //Right button (A) only
tanksteering_prohibit_left=true;
prohibit_reverse=true;
}else if(control_buttonB && !control_buttonA) {//Left button (B) only
tanksteering_prohibit_right=true;
prohibit_reverse=true;
}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
tanksteering_prohibit_left=false;
tanksteering_prohibit_right=false;
prohibit_reverse=false;
}
}
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;
reverse_enabled2=false;
}else if(control_buttonB && !control_buttonA) { //Left button (B) only
}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;
reverse_enabled2=false;
}else if(reverse_enabled2){ //no button on steering wheel pressed, drive backwards
}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_FL=_cmd_send_toMotor;