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bobbycar
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add all connections

This commit is contained in:
interfisch 2021-03-20 16:13:16 +01:00
parent e2ac65b735
commit 0580cab66a
1 changed files with 48 additions and 10 deletions
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58
controller_teensy/src/main.cpp
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@ -19,11 +19,28 @@ Tennsy Pin, Pin Name, Connected to
#define SENDPERIOD 50 //ms. delay for sending speed and steer data to motor controller via serial
#define RECEIVEPERIOD 50 //ms
#define PIN_THROTTLE A0
const uint16_t calib_throttle_min = 350;
const uint16_t calib_throttle_max = 810;
#define PIN_THROTTLE A7
const uint16_t calib_throttle_min = 400; //better a bit too high than too low
const uint16_t calib_throttle_max = 790;
#define PIN_BRAKE A8
const uint16_t calib_brake_min = 100;//better a bit too high than too low
const uint16_t calib_brake_max = 600;
int16_t throttle_pos=0;
int16_t brake_pos=0;
unsigned long last_adcread=0;
#define ADCREADPERIOD 100
#define PIN_START A9
#define PIN_LED_START 2 //Enginge start led
#define PIN_LATCH_ENABLE A6
#define PIN_MODE_SWITCH 3
#define PIN_MODE_LEDG 4
#define PIN_MODE_LEDR 5
#define PIN_LED_START TODOOOOO //Enginge start led
unsigned long last_send = 0;
@ -176,8 +193,17 @@ void setup()
Serial2.begin(SERIAL_CONTROL_BAUD); //control
Serial3.begin(SERIAL_CONTROL_BAUD); //control
pinMode(PIN_THROTTLE, INPUT_PULLUP);
pinMode(PIN_THROTTLE, INPUT);
pinMode(PIN_BRAKE, INPUT);
pinMode(PIN_START, INPUT_PULLUP);
pinMode(PIN_LED_START, OUTPUT);
pinMode(PIN_MODE_LEDG, OUTPUT);
pinMode(PIN_MODE_LEDR, OUTPUT);
pinMode(PIN_LATCH_ENABLE, OUTPUT);
digitalWrite(PIN_LATCH_ENABLE,HIGH); //latch on
pinMode(PIN_MODE_SWITCH, INPUT_PULLUP);
}
@ -189,6 +215,20 @@ void loop() {
bool newData2=ReceiveSerial(SerialcomFront,FeedbackFront, NewFeedbackFront, Serial2);
if (loopmillis - last_adcread > ADCREADPERIOD) {
//read teensy adc and filter
last_adcread=loopmillis;
uint16_t throttle_raw = analogRead(PIN_THROTTLE);
throttle_pos=max(0,min(1000,map(throttle_raw,calib_throttle_min,calib_throttle_max,0,1000))); //map and constrain
uint16_t brake_raw = analogRead(PIN_BRAKE);
brake_pos=max(0,min(1000,map(brake_raw,calib_brake_min,calib_brake_max,0,1000))); //map and constrain
Serial.print(throttle_raw); Serial.print(", "); Serial.print(brake_raw); Serial.print(", ");
Serial.print(throttle_pos); Serial.print(", "); Serial.print(brake_pos); Serial.println();
}
//Serial.print("fo="); Serial.println(count);
//count++;
@ -200,12 +240,9 @@ void loop() {
}
if (loopmillis - last_send > SENDPERIOD) {
//Calculate motor stuff and send to motor controllers
last_send=loopmillis;
uint16_t throttle_raw = analogRead(PIN_THROTTLE);
int16_t throttle_pos=max(0,min(1000,map(throttle_raw,calib_throttle_min,calib_throttle_max,0,1000))); //map and constrain
float freewheel_current=0.1;
float freewheel_break_factor=1000.0; //speed cmd units per amp per second. 1A over freewheel_current decreases cmd speed by this amount (in average)
float filtered_curFL=filterMedian(motorparamsFront.curL_DC)/50.0;
@ -229,7 +266,8 @@ void loop() {
SendSerial(CommandFront,motorparamsFront.cmdL,motorparamsFront.cmdR,Serial2);
Serial.print(cmd_send); Serial.print(", "); Serial.print(throttle_pos); Serial.print(", "); Serial.print(filtered_curFL*1000); Serial.print(", "); Serial.print(filtered_curFR*1000); Serial.print(", "); Serial.print(filtered_currentAll*1000); Serial.println();
//Serial.print(cmd_send); Serial.print(", "); Serial.print(throttle_pos); Serial.print(", "); Serial.print(filtered_curFL*1000); Serial.print(", "); Serial.print(filtered_curFR*1000); Serial.print(", "); Serial.print(filtered_currentAll*1000); Serial.println();
}
}