add remote control ppm input

Bobbycar_wiring/Bobbycar_wiring.kicad_pro

@@ -59,9 +59,7 @@
           "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

@@ -8693,7 +8693,7 @@
 	)
 	(wire
 		(pts
-			(xy 209.55 31.75) (xy 209.55 33.655)
+			(xy 198.12 31.75) (xy 198.12 35.56)
 		)
 		(stroke
 			(width 0)
@@ -9363,7 +9363,7 @@
 	)
 	(wire
 		(pts
-			(xy 209.55 31.75) (xy 231.14 31.75)
+			(xy 198.12 31.75) (xy 231.14 31.75)
 		)
 		(stroke
 			(width 0)
@@ -10551,6 +10551,16 @@
 		)
 		(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)
@@ -10821,6 +10831,16 @@
 		)
 		(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)
@@ -10991,6 +11011,16 @@
 		)
 		(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)
@@ -11510,6 +11540,16 @@
 		)
 		(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)
@@ -13980,7 +14020,7 @@
 	)
 	(symbol
 		(lib_id "power:GNDD")
-		(at 209.55 33.655 0)
+		(at 198.12 35.56 0)
 		(unit 1)
 		(exclude_from_sim no)
 		(in_bom yes)
@@ -13989,7 +14029,7 @@
 		(fields_autoplaced yes)
 		(uuid "073f2160-76bb-422b-a642-f8ccef9d914c")
 		(property "Reference" "#PWR0111"
-			(at 209.55 40.005 0)
+			(at 198.12 41.91 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -13998,7 +14038,7 @@
 			)
 		)
 		(property "Value" "GNDD"
-			(at 209.55 38.1 0)
+			(at 198.12 40.005 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -14006,7 +14046,7 @@
 			)
 		)
 		(property "Footprint" ""
-			(at 209.55 33.655 0)
+			(at 198.12 35.56 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -14015,7 +14055,7 @@
 			)
 		)
 		(property "Datasheet" ""
-			(at 209.55 33.655 0)
+			(at 198.12 35.56 0)
 			(effects
 				(font
 					(size 1.27 1.27)
@@ -14024,7 +14064,7 @@
 			)
 		)
 		(property "Description" ""
-			(at 209.55 33.655 0)
+			(at 198.12 35.56 0)
 			(effects
 				(font
 					(size 1.27 1.27)

controller_teensy/include/definitions.h

@@ -95,10 +95,11 @@ bool error_brake_outofrange=false;
 bool error_ads_max_read_interval=false;
 bool error_sdfile_unavailable=false;
 
-#define REVERSE_ENABLE_TIME 500 //ms. how long standstill to be able to drive backward
+#define REVERSE_ENABLE_TIME 300 //ms. how long standstill to be able to drive backward
 
 
 #define NORMAL_MAX_ACCELERATION_RATE 10000
+#define MEDIUM_MAX_ACCELERATION_RATE 500
 #define SLOW_MAX_ACCELERATION_RATE 250
 int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send increase per second
 

controller_teensy/include/display.h

@@ -16,10 +16,12 @@
 Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
 
 uint8_t standingDisplayScreen=0;
-#define NUM_STANDINGDISPLAYSCREEN 4
+#define NUM_STANDINGDISPLAYSCREEN 5
 
 #define DISPLAYSTANDSTILLTIME 5000
 
+#include "rc.h"
+
 bool display_init();
 void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear);
 void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
@@ -442,6 +444,42 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
     
     break;
 
+
+  case 4:
+    //Row 1
+    display.print(F("RC "));
+    dtostrf(ppm[0],4,0,buf);
+    display.print((String)buf);
+    display.print(F("/"));
+    dtostrf(ppm[1],4,0,buf);
+    display.print((String)buf);
+    display.println();
+
+    //Row 2
+    
+    display.print(F("T"));
+    dtostrf(getRCThrottle(),3,0,buf);
+    display.print((String)buf);
+    display.print(F(" B"));
+    dtostrf(getRCBrake(),3,0,buf);
+    display.print((String)buf);
+    display.print(F(" S"));
+    dtostrf(getRCSteer(),3,0,buf);
+    display.print((String)buf);
+    
+    display.println();
+
+    //Row 3
+    display.print(F("Mode="));
+    dtostrf(getRCMode(3),1,0,buf);
+    display.print((String)buf);
+    display.print(F(" %="));
+    dtostrf(getPPMSuccessrate(),1,5,buf);
+    display.print((String)buf);
+    display.println();
+
+    break;
+
   }
 
   //Put User Inputs in last row

controller_teensy/include/led.h

@@ -31,6 +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;
+
 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);
 
@@ -109,6 +111,9 @@ void led_update(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm&
         }else{
                     
             if (armed) {
+                if (rc_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) {
                         //Standing           
                         float vbat=min(escRear.getFeedback_batVoltage(),escFront.getFeedback_batVoltage());     
@@ -122,6 +127,7 @@ void led_update(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm&
                         }
                         led_gauge(loopmillis,currentMean,0,32.0,strip.Color(0,  0,   0, 255),_bgColor);
                     }
+                }
             }else{
                 //Disarmed
                 led_dotcircle(loopmillis); //fill background with animation

controller_teensy/include/rc.h

@@ -0,0 +1,124 @@
+#ifndef _RC_H_
+#define _RC_H_
+
+
+#define RC
+
+#include <PulsePosition.h>
+PulsePositionInput ppmIn;
+
+#define PPMREADPERIOD 20 //period for d4r-ii is 18ms
+static int count=0;
+
+#define PIN_PPM 9
+
+#define PPM_CHANNELS 8
+#define PPM_SAVE_MIN 950 //minimum allowed for valid data
+#define PPM_SAVE_MAX 2050 //maximum allowed for valid data
+#define PPM_MIN 1000
+#define PPM_MAX 2000
+#define PPM_MID 1500
+#define PPM_DEADBAND 5
+#define PPM_CHANNEL_THROTTLE 1
+#define PPM_CHANNEL_STEER 2
+#define PPM_CHANNEL_MODE 5
+float ppm[PPM_CHANNELS];
+
+unsigned long ppm_count_success=0;
+unsigned long ppm_count_fail=0;
+
+void initRC();
+void readPPM(unsigned long loopmillis);
+void printPPM();
+
+int16_t getRCThrottle();
+int16_t getRCSteer();
+uint8_t getRCMode(uint8_t modes);
+
+bool rc_enabled=false;
+
+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;
+        }else{
+            for (int i=1; i <= ppm_num; i++) {
+                float val=ppmIn.read(i);
+                new_ppm[i-1]=val;
+                if (val<PPM_SAVE_MIN || val>PPM_SAVE_MAX) {
+                    ppm_ok=false;
+                }
+            }
+        }
+        
+        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;
+        }
+    }
+}
+
+float getPPMSuccessrate() {
+    float rate=ppm_count_success*1.0/(ppm_count_success+ppm_count_fail);
+    if (ppm_count_success+ppm_count_fail>500) {
+        ppm_count_success=0;
+        ppm_count_fail=0;
+    }
+    return rate;
+}
+
+//Return value 0 - 1000
+int16_t getRCThrottle() {
+    return constrain(map(ppm[PPM_CHANNEL_THROTTLE-1],PPM_MID+PPM_DEADBAND,PPM_MAX,0,1000), 0,1000);
+}
+
+int16_t getRCBrake() {
+    return constrain(map(ppm[PPM_CHANNEL_THROTTLE-1],PPM_MID-PPM_DEADBAND,PPM_MIN,0,1000), 0,1000);
+}
+
+//Return value -1000 - 1000
+int16_t getRCSteer() {
+    if (ppm[PPM_CHANNEL_STEER-1]>PPM_MID+PPM_DEADBAND){
+        return constrain(map(ppm[PPM_CHANNEL_STEER-1],PPM_MID+PPM_DEADBAND,PPM_MAX,0,1000), 0,1000);
+    }else if (ppm[PPM_CHANNEL_STEER-1]<PPM_MID-PPM_DEADBAND){
+        return constrain(map(ppm[PPM_CHANNEL_STEER-1],PPM_MID-PPM_DEADBAND,PPM_MIN,0,-1000), -1000,0);
+    }else{
+        return 0;
+    }
+    
+}
+
+//Return descrete value for equidistant ranges. modes = number of ranges.
+uint8_t getRCMode(uint8_t modes) {
+    float v=constrain(map(ppm[PPM_CHANNEL_MODE-1],PPM_MIN,PPM_MAX,0.0,1.0), 0.0,0.999);
+    return uint8_t(v*modes);
+}
+
+
+void printPPM(unsigned long loopmillis){
+    
+    count = count + 1;
+    Serial.print("ms :");
+    Serial.print(count);
+    Serial.print(" :  ");
+    for (int i=1; i <= PPM_CHANNELS; i++) {
+        Serial.print(ppm[i-1]);
+        Serial.print("  ");
+    }
+    Serial.println();
+}
+
+#endif

controller_teensy/platformio.ini

@@ -26,6 +26,7 @@ lib_deps =
     adafruit/Adafruit SSD1306@^2.5.7
     https://github.com/adafruit/Adafruit_NeoPixel
     https://github.com/milesburton/Arduino-Temperature-Control-Library/
+    https://github.com/PaulStoffregen/PulsePosition
 
 
 [env:teensy31]

controller_teensy/src/main.cpp

@@ -21,10 +21,12 @@ String getLogFilename();
 bool getDatalogging();
 #include "display.h"
 #include "logging.h"
+#include "rc.h"
 
 #include "ADS1X15.h"
 
 
+
 //#define CALIBRATION_THROTTLE_CURVE //uncomment to enable throttleA and B serial output on button press
 
 
@@ -175,6 +177,10 @@ void setup()
   initTemperature();
   led_simpeProgress(9,true);
 
+  initRC();
+
+  led_simpeProgress(10,true);
+  
 
 
   writeLogComment(millis(), "Setup Finished");
@@ -220,6 +226,13 @@ void loop() {
   }
 
 
+  static unsigned long last_ppmread=0;
+  if (loopmillis - last_ppmread > PPMREADPERIOD) { //read digital input states
+    last_ppmread=loopmillis;
+    readPPM(loopmillis);
+  }
+
+  
   failChecks();  
 
   static unsigned long last_calculateSetSpeed=0;
@@ -398,14 +411,7 @@ void readADC() {
 
 
 
-  if (throttle_pos>0 || ((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0) >0.5 || (!reverse_enabled && brake_pos>0)) { //reset idle time on these conditions (disables reverse driving)
-    last_notidle=loopmillis;
-    reverse_enabled=false;
-  }
   
-  if (loopmillis-last_notidle > REVERSE_ENABLE_TIME) {
-    reverse_enabled=true;
-  }
 
   int16_t throttlebreak_pos = throttle_pos-brake_pos*2; //reduce throttle_when applying brake
   throttle_pos=constrain(throttlebreak_pos,0,1000);
@@ -503,9 +509,39 @@ void failChecks() {
 void calculateSetSpeed(unsigned long timediff){
 
   int16_t adjusted_throttle_pos=constrain(throttle_pos*(throttle_max/1000.0),0,throttle_max);
+  int16_t brake_pos_linear=brake_pos;
+  int16_t brake_pos_expo = (int16_t)(pow((brake_pos_linear/1000.0),2)*1000);
 
-  int16_t brake_pos_expo = (int16_t)(pow((brake_pos/1000.0),2)*1000);
 
+
+#ifdef RC
+  if (throttle_pos>0 || brake_pos>0) { //touch any pedal to cancel rc mode
+    rc_enabled=false;
+  }
+
+  if (rc_enabled) {
+    int16_t rcthrottle_pos=getRCThrottle();
+    int16_t rcbrake_pos=getRCBrake();
+    
+
+    adjusted_throttle_pos=constrain(rcthrottle_pos*(throttle_max/1000.0),0,throttle_max); //overwrite with rc values
+    brake_pos_linear=rcbrake_pos;
+    brake_pos_expo = (int16_t)(pow((brake_pos_linear/1000.0),2)*1000);
+  }
+
+#endif
+
+  //Reverse Enable
+  if (throttle_pos>0 || ((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0) >0.5 || (!reverse_enabled && brake_pos_linear>0)) { //reset idle time on these conditions (disables reverse driving)
+    last_notidle=loopmillis;
+    reverse_enabled=false;
+  }  
+  if (loopmillis-last_notidle > REVERSE_ENABLE_TIME) {
+    reverse_enabled=true;
+  }
+
+
+  //Throttle Management
   float brakepedal_current_multiplier=startbrakecurrent/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000)
 
   int16_t cmdreduce_constant=map(brake_pos_expo,0,1000,0,(int16_t)(brake_cmdreduce_proportional*timediff/1000)); //reduce cmd value every cycle
@@ -538,7 +574,7 @@ void calculateSetSpeed(unsigned long timediff){
   int16_t cmd_send_toMotor_FR=0;
   int16_t cmd_send_toMotor_RL=0;
   int16_t cmd_send_toMotor_RR=0;
-  int16_t _cmd_send_toMotor=constrain(cmd_send* (1.0-(brake_pos*0.5/1000.0) ) ,0,throttle_max); //brake "ducking"
+  int16_t _cmd_send_toMotor=constrain(cmd_send* (1.0-(brake_pos_expo*0.5/1000.0) ) ,0,throttle_max); //brake "ducking"
 
 
   cmd_send_toMotor_FL=_cmd_send_toMotor;
@@ -546,6 +582,17 @@ void calculateSetSpeed(unsigned long timediff){
   cmd_send_toMotor_RL=_cmd_send_toMotor;
   cmd_send_toMotor_RR=_cmd_send_toMotor;
 
+#ifdef RC
+  int16_t differential_steering_max=100;
+
+  if (rc_enabled) {
+    float rcsteer=getRCSteer()/1000.0;
+    cmd_send_toMotor_FL+=rcsteer*differential_steering_max;
+    cmd_send_toMotor_FR-=rcsteer*differential_steering_max;
+  }
+
+#endif
+
 
 
 #ifdef DRIVING_TANKSTEERING
@@ -589,7 +636,7 @@ void calculateSetSpeed(unsigned long timediff){
   // ## Braking, Reversing and Standstill movements below here ##
   /*
   if (reverse_enabled) {  //backwards driving not prohibited
-    _cmd_send_toMotor-=brake_pos*reverse_speed;
+    _cmd_send_toMotor-=brake_pos_linear*reverse_speed;
 
     cmd_send_toMotor_FL=_cmd_send_toMotor;
     cmd_send_toMotor_FR=_cmd_send_toMotor;
@@ -600,7 +647,7 @@ void calculateSetSpeed(unsigned long timediff){
   */
   
   
-  float steeringdifferential_speed=0.3; //Speed for turning the steering wheel by differtially driving the front wheels
+  float steeringdifferential_speed=0.4; //Speed for turning the steering wheel by differtially driving the front wheels
 
   if (reverse_enabled) {  //backwards driving not prohibited
     static bool tanksteering_prohibit_left=false;
@@ -616,7 +663,7 @@ void calculateSetSpeed(unsigned long timediff){
     }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
+      if (throttle_pos<=0 && brake_pos_linear<=0) {//levers released
         tanksteering_prohibit_left=false;
         tanksteering_prohibit_right=false;
         prohibit_reverse=false;
@@ -624,17 +671,17 @@ void calculateSetSpeed(unsigned long timediff){
     }
 
     if (!tanksteering_prohibit_right && tanksteering_prohibit_left && prohibit_reverse) { //Right Tanksteering
-      cmd_send_toMotor_FL+=brake_pos*steeringdifferential_speed;
+      cmd_send_toMotor_FL+=brake_pos_expo*steeringdifferential_speed;
-      cmd_send_toMotor_FR-=brake_pos*steeringdifferential_speed;
+      cmd_send_toMotor_FR-=brake_pos_expo*steeringdifferential_speed;
-      cmd_send_toMotor_RL+=brake_pos*steeringdifferential_speed;
+      cmd_send_toMotor_RL+=brake_pos_expo*steeringdifferential_speed;
-      cmd_send_toMotor_RR-=brake_pos*steeringdifferential_speed;
+      cmd_send_toMotor_RR-=brake_pos_expo*steeringdifferential_speed;
     }else if(tanksteering_prohibit_right && !tanksteering_prohibit_left && prohibit_reverse) { //Left Tanksteering
-      cmd_send_toMotor_FL-=brake_pos*steeringdifferential_speed;
+      cmd_send_toMotor_FL-=brake_pos_expo*steeringdifferential_speed;
-      cmd_send_toMotor_FR+=brake_pos*steeringdifferential_speed;
+      cmd_send_toMotor_FR+=brake_pos_expo*steeringdifferential_speed;
-      cmd_send_toMotor_RL-=brake_pos*steeringdifferential_speed;
+      cmd_send_toMotor_RL-=brake_pos_expo*steeringdifferential_speed;
-      cmd_send_toMotor_RR+=brake_pos*steeringdifferential_speed;
+      cmd_send_toMotor_RR+=brake_pos_expo*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*reverse_speed;
+      _cmd_send_toMotor-=brake_pos_expo*reverse_speed;
 
       cmd_send_toMotor_FL=_cmd_send_toMotor;
       cmd_send_toMotor_FR=_cmd_send_toMotor;
@@ -716,18 +763,28 @@ void readButtons() {
     if (escFront.getControllerConnected() && escRear.getControllerConnected()) {
       armed=true; //arm if button pressed long enough
       writeLogComment(loopmillis, "Armed by button");
-      if (control_buttonA) { //button A is held down during start button press
+      rc_enabled=false;
+      if (control_buttonA && control_buttonB) { //button A and B is held down during start button press
+        throttle_max=250;
+        reverse_speed=0.15;
+        max_acceleration_rate=MEDIUM_MAX_ACCELERATION_RATE;
+        rc_enabled=true;
+        writeLogComment(loopmillis, "Mode: RC");
+      }else if (control_buttonA) { //button A is held down during start button press
         throttle_max=1000;
         reverse_speed=0.25;
         max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
+        writeLogComment(loopmillis, "Mode: Fast");
       }else if (control_buttonB) { //button B is held down during start button press
         throttle_max=750;
         reverse_speed=0.25;
         max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
+        writeLogComment(loopmillis, "Mode: Medium");
       }else { //no control button pressed during start
         throttle_max=250;
         reverse_speed=0.15;
         max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
+        writeLogComment(loopmillis, "Mode: Slow");
       }
 
     }else{