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Default steering and double control accuracy

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Signed-off-by: Lukas Bachschwell <lukas@lbsfilm.at>
This commit is contained in:
Lukas Bachschwell 2024-05-13 09:31:33 +02:00
parent 5646c3d33b
commit f061d98098
Signed by: lbsadmin
GPG Key ID: CCC6AA87CC8DF425
3 changed files with 69 additions and 45 deletions
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6
src/accel.h
View File

@ -12,8 +12,8 @@ int16_t cels = 0;
void initAccel() void initAccel()
{ {
return; // return;
Wire.begin(); // Wire.begin();
Wire.beginTransmission(0x68); // I2C address of the MPU-6050 Wire.beginTransmission(0x68); // I2C address of the MPU-6050
Wire.write(0x6B); // PWR_MGMT_1 register Wire.write(0x6B); // PWR_MGMT_1 register
Wire.write(0); // set to zero (wakes up the MPU-6050) Wire.write(0); // set to zero (wakes up the MPU-6050)
@ -22,7 +22,7 @@ void initAccel()
void readAccel() void readAccel()
{ {
return; // return;
Wire.beginTransmission(MPU_addr); Wire.beginTransmission(MPU_addr);
Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H) Wire.write(0x3B); // starting with register 0x3B (ACCEL_XOUT_H)
Wire.endTransmission(false); Wire.endTransmission(false);

79
src/remote.cpp
View File

@ -49,7 +49,8 @@ uint8_t boardData[6] = {0, 0, 0, 0, 0, 0};
// #define steeringInfluential // #define steeringInfluential
uint8_t currentMode = M_NORMAL; #define DEFAULT_MODE M_STEERING
uint8_t currentMode = DEFAULT_MODE; // Default to steering in this case
uint8_t selectedIndex = 2; uint8_t selectedIndex = 2;
bool lightActive = false; bool lightActive = false;
@ -118,8 +119,6 @@ bool triggerActive();
#include "settings.h" #include "settings.h"
uint8_t *buf;
void setCrusing(int16_t speed) void setCrusing(int16_t speed)
{ {
if (speed < THROTTLE_CENTER) if (speed < THROTTLE_CENTER)
@ -570,14 +569,14 @@ void checkClicks(void *parameter)
{ {
DEBUG_PRINTLN("YEAH TRIPPLE"); DEBUG_PRINTLN("YEAH TRIPPLE");
if (currentMode == M_NORMAL) if (currentMode == DEFAULT_MODE)
{ {
currentMode = M_SELECT; currentMode = M_SELECT;
selectedIndex = 2; selectedIndex = 2;
} }
else else
{ {
currentMode = M_NORMAL; currentMode = DEFAULT_MODE;
} }
} }
clickCounter = 0; clickCounter = 0;
@ -602,15 +601,15 @@ void checkClicks(void *parameter)
else else
settings[limitMode] = 0; settings[limitMode] = 0;
shouldUpdateSettings = true; shouldUpdateSettings = true;
currentMode = M_NORMAL; currentMode = DEFAULT_MODE;
break; break;
case 2: case 2:
lightActive = !lightActive; lightActive = !lightActive;
updateBoardOptions(); updateBoardOptions();
currentMode = M_NORMAL; currentMode = DEFAULT_MODE;
break; break;
case 3: case 3:
currentMode = M_STEERING; currentMode = M_NORMAL; // onvert this
break; break;
case 4: case 4:
currentMode = M_CRUISE; currentMode = M_CRUISE;
@ -1047,18 +1046,10 @@ void setup()
&clickTaskHandle, &clickTaskHandle,
0); 0);
initAccel();
DEBUG_PRINTLN("ESPNowSkate Sender"); DEBUG_PRINTLN("ESPNowSkate Sender");
u8g2.setBusClock(400000);
u8g2.begin(); u8g2.begin();
u8g2.setBusClock(400000);
// buf = (uint8_t *)malloc(u8g2.getBufferSize()); initAccel();
// u8g2.setBufferPtr(buf);
// u8g2.initDisplay();
// u8g2.clearDisplay();
// u8g2.setPowerSave(0);
drawStartScreen(); drawStartScreen();
@ -1140,33 +1131,37 @@ void loop()
if (currentMode == M_STEERING) if (currentMode == M_STEERING)
{ {
DEBUG_PRINT("Value: "); DEBUG_PRINT("Value: ");
int map = c_map(AcZ, -15000, 15000, -60, 60); int steer = c_map(AcZ, -15000, 15000, -500, 500);
DEBUG_PRINTLN(map); steer *= -1; // Invert
DEBUG_PRINTLN(steer);
#ifdef steeringInfluential // #ifdef steeringInfluential
esc1 = (uint8_t)constrain(throttle - map, THROTTLE_MIN, THROTTLE_MAX); // esc1 = (uint8_t)constrain(throttle - map, THROTTLE_MIN, THROTTLE_MAX);
esc2 = (uint8_t)constrain(throttle + map, THROTTLE_MIN, THROTTLE_MAX); // esc2 = (uint8_t)constrain(throttle + map, THROTTLE_MIN, THROTTLE_MAX);
#else // #else
esc1 = (uint8_t)constrain(THROTTLE_CENTER - map, THROTTLE_MIN, THROTTLE_MAX); // esc1 = (uint8_t)constrain(THROTTLE_CENTER - map, THROTTLE_MIN, THROTTLE_MAX);
esc2 = (uint8_t)constrain(THROTTLE_CENTER + map, THROTTLE_MIN, THROTTLE_MAX); // esc2 = (uint8_t)constrain(THROTTLE_CENTER + map, THROTTLE_MIN, THROTTLE_MAX);
if (-10 < map && map < 10) // if (-10 < map && map < 10)
{ // {
esc1 = throttle; // esc1 = throttle;
esc2 = throttle; // esc2 = throttle;
} // }
// ignore reverse // // ignore reverse
if (throttle < THROTTLE_CENTER) // if (throttle < THROTTLE_CENTER)
{ // {
esc1 = throttle; // esc1 = throttle;
esc2 = throttle; // esc2 = throttle;
} // }
#endif // #endif
if (throttle == THROTTLE_CENTER) // if (throttle == THROTTLE_CENTER)
{ // {
esc1 = THROTTLE_CENTER; // esc1 = THROTTLE_CENTER;
esc2 = THROTTLE_CENTER; // esc2 = THROTTLE_CENTER;
} // }
// mixerFcn(speed << 4, steer << 4, &esc1, &esc2); // This function implements the equations above
mixerFcn(throttle << 4, steer << 4, &esc1, &esc2); // This function implements the equations above
DEBUG_PRINT("SteeringMode: ESC1: "); DEBUG_PRINT("SteeringMode: ESC1: ");
DEBUG_PRINT(esc1); DEBUG_PRINT(esc1);

29
src/valuehelpers.h
View File

@ -17,3 +17,32 @@ uint8_t split16(uint16_t value, uint8_t index)
} }
return 0; return 0;
} }
#define CLAMP(x, low, high) (((x) > (high)) ? (high) : (((x) < (low)) ? (low) : (x)))
#define DEFAULT_SPEED_COEFFICIENT 16384 // Default for SPEED_COEFFICIENT 1.0f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
#define DEFAULT_STEER_COEFFICIENT 8192 // Defualt for STEER_COEFFICIENT 0.5f [-] higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 8192 = 0.5 * 2^14. If you do not want any steering, set it to 0.
/* mixerFcn(rtu_speed, rtu_steer, &rty_speedR, &rty_speedL);
* Inputs: rtu_speed, rtu_steer = fixdt(1,16,4)
* Outputs: rty_speedR, rty_speedL = int16_t
* Parameters: SPEED_COEFFICIENT, STEER_COEFFICIENT = fixdt(0,16,14)
*/
void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t *rty_speedL)
{
int16_t prodSpeed;
int16_t prodSteer;
int32_t tmp;
prodSpeed = (int16_t)((rtu_speed * (int16_t)DEFAULT_SPEED_COEFFICIENT) >> 14);
prodSteer = (int16_t)((rtu_steer * (int16_t)DEFAULT_STEER_COEFFICIENT) >> 14);
tmp = prodSpeed - prodSteer;
tmp = CLAMP(tmp, -32768, 32767); // Overflow protection
*rty_speedR = (int16_t)(tmp >> 4); // Convert from fixed-point to int
*rty_speedR = CLAMP(*rty_speedR, -1000, 1000); // TODO: Use constants here
tmp = prodSpeed + prodSteer;
tmp = CLAMP(tmp, -32768, 32767); // Overflow protection
*rty_speedL = (int16_t)(tmp >> 4); // Convert from fixed-point to int
*rty_speedL = CLAMP(*rty_speedL, -1000, 1000); // TODO: Use constants here
}