decrease freewheel breaking

controller_teensy/include/definitions.h

@@ -106,9 +106,9 @@ int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send i
 //Driving parameters
 int16_t minimum_constant_cmd_reduce=1; //reduce cmd every loop by this constant amount when freewheeling/braking
 int16_t brake_cmdreduce_proportional=500; //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=brake_cmdreduce_proportional / second @ full brake. with BREAK_CMDREDUCE_CONSTANT=1000 car would stop with full brake at least after a second (ignoring influence of brake current control/freewheeling)
-float startbrakecurrent=2; //Ampere. "targeted brake current @full brake". at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor
+float startbrakecurrent=2.0; //Ampere. "targeted brake current @full brake". at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor
 float startbrakecurrent_offset=0.13; //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
-float freewheel_break_factor=500.0; //speed cmd units per amp per second. 1A over freewheel_current decreases cmd speed by this amount (on average)
+float freewheel_break_factor=200.0; //speed cmd units per amp per second. 1A over freewheel_current decreases cmd speed by this amount (on average). Was 500 until 20240809
 float reverse_speed=0.25; //reverse driving speed //0 to 1
 int16_t throttle_max=1000; //maximum allowed set speed. used for scaling and limiting. [0,1000]
 

logdata_visualization/copyLogsFromBobbycar.py

@@ -2,6 +2,10 @@
 import serial
 import os
 import time 
+import random
+import string
+
+import argparse
 chunksize=4096
 
 #LOG0002   
@@ -150,6 +154,20 @@ def delete_file(filename):
 
 
 if __name__ == "__main__":
+
+
+    parser = argparse.ArgumentParser(description='Transfers log files from bobbycar over serial')
+    parser.add_argument('-o', '--output', nargs='?', help="output directory")
+    parser.add_argument('-d','--delete', action="store_true", help="delete files after transfer")
+    args = parser.parse_args()
+    outputfolder="sdcard"
+    if (args.output is not None):
+        outputfolder = args.output
+        if(outputfolder[-1]=='/'):
+            outputfolder=outputfolder[:-1] #remove last slash
+    print("Outputfolder:"+outputfolder)
+    
+
     if serialport.isOpen():
         
         establish_connection()
@@ -169,7 +187,7 @@ if __name__ == "__main__":
             expectedsize=get_filesize(filename)
             print("Expecting "+str(expectedsize)+" Byte")
 
-            writefilename='sdcard/'+filename
+            writefilename=outputfolder+'/'+filename
             receivedsize=copy_file(filename,writefilename,expectedsize)
             
             if (expectedsize!=receivedsize):
@@ -182,13 +200,22 @@ if __name__ == "__main__":
         
         
 
-        #Delete all files
+        #Delete all files        
-        
+        if (args.delete):
-        '''
+            if (failed>0):
-        log_off()
+                print("Copy not successful. Files won't be deleted!")
-        for filename in filenames:
+                exit()
-            delete_file(filename)
+            deletecheckstring=''.join(random.choices(string.ascii_lowercase, k=3))
-        '''
+            deletecheck=input("Enter "+deletecheckstring+" to confirm deletion of "+str(len(filenames))+" files on bobbycar:")
+
+            if (deletecheck==deletecheckstring):
+                log_off()
+                for filename in filenames:
+                    print("Deleting "+filename)
+                    delete_file(filename)
+            else:
+                print("Verification failed!")
+            
         
 
     serialport.write("echo on\n".encode())