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fix swapped feedback speed_measured left and right

This commit is contained in:
interfisch 2021-05-16 18:06:36 +02:00
parent fb961e3da7
commit 70a17af3f2
1 changed files with 11 additions and 11 deletions
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22
controller_teensy/src/main.cpp
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@ -23,7 +23,7 @@ unsigned long last_log_send=0;
#define LOGMININTERVAL 20 //minimum interval (ms) to send logs #define LOGMININTERVAL 20 //minimum interval (ms) to send logs
#define LOGMAXINTERVAL 10000 //maximum time (ms) after which data is send #define LOGMAXINTERVAL 10000 //maximum time (ms) after which data is send
#define WRITE_HEADER_TIME 1000 #define WRITE_HEADER_TIME 400 //just before FEEDBACKRECEIVETIMEOUT, so header gets written before error comments
bool log_header_written = false; bool log_header_written = false;
@ -112,12 +112,12 @@ SerialCommand CommandFront;
SerialCommand CommandRear; SerialCommand CommandRear;
typedef struct{ typedef struct{ //match this struct to hoverboard-firmware SerialFeedback struct in main.c
uint16_t start; uint16_t start;
int16_t cmd1; int16_t cmd1;
int16_t cmd2; int16_t cmd2;
int16_t speedL_meas; //left speed is negative when driving forward int16_t speedR_meas; //right speed is negatie when driving forward
int16_t speedR_meas; //right speed is positive when driving forward int16_t speedL_meas; //left speed is positive when driving forward
int16_t batVoltage; int16_t batVoltage;
int16_t boardTemp; int16_t boardTemp;
int16_t curL_DC; //negative values are current consumed. positive values mean generated current int16_t curL_DC; //negative values are current consumed. positive values mean generated current
@ -130,8 +130,8 @@ SerialFeedback NewFeedbackFront;
SerialFeedback FeedbackRear; SerialFeedback FeedbackRear;
SerialFeedback NewFeedbackRear; SerialFeedback NewFeedbackRear;
#define CURRENT_FILTER_SIZE 20 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller) #define CURRENT_FILTER_SIZE 40 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller)
#define CURRENT_MEANVALUECOUNT 4 //0<= meanvaluecount < CURRENT_FILTER_SIZE/2. how many values will be used from sorted weight array from the center region. abour double this values reading are used #define CURRENT_MEANVALUECOUNT 10 //0<= meanvaluecount < CURRENT_FILTER_SIZE/2. how many values will be used from sorted weight array from the center region. abour double this values reading are used
typedef struct{ typedef struct{
int16_t curL_DC[CURRENT_FILTER_SIZE] = {0}; //current will be inverted for this so positive value means consumed current int16_t curL_DC[CURRENT_FILTER_SIZE] = {0}; //current will be inverted for this so positive value means consumed current
int16_t curR_DC[CURRENT_FILTER_SIZE] = {0}; int16_t curR_DC[CURRENT_FILTER_SIZE] = {0};
@ -359,10 +359,10 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
SerialRef.print(mprear.filtered_curL,3); SerialRef.print(","); SerialRef.print(mprear.filtered_curL,3); SerialRef.print(",");
SerialRef.print(mprear.filtered_curR,3); SerialRef.print(","); SerialRef.print(mprear.filtered_curR,3); SerialRef.print(",");
SerialRef.print(-fbfront.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated SerialRef.print(fbfront.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
SerialRef.print(fbfront.speedR_meas); SerialRef.print(","); SerialRef.print(-fbfront.speedR_meas); SerialRef.print(",");
SerialRef.print(-fbrear.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated SerialRef.print(fbrear.speedL_meas); SerialRef.print(","); //invert speed, because left wheels are negated
SerialRef.print(fbrear.speedR_meas); SerialRef.print(","); SerialRef.print(-fbrear.speedR_meas); SerialRef.print(",");
SerialRef.print(fbfront.boardTemp/10.0); SerialRef.print(","); //in degC SerialRef.print(fbfront.boardTemp/10.0); SerialRef.print(","); //in degC
SerialRef.print(fbrear.boardTemp/10.0); SerialRef.print(","); //in degC SerialRef.print(fbrear.boardTemp/10.0); SerialRef.print(","); //in degC
@ -569,7 +569,7 @@ void readButtons() {
if (button_start_state) { //pressed if (button_start_state) { //pressed
if ( (loopmillis> button_start_lastchange + LONG_PRESS_ARMING_TIME)) { //pressed long if ( (loopmillis> button_start_lastchange + LONG_PRESS_ARMING_TIME)) { //pressed long
if (throttle_pos<=0 && brake_pos<=0 && !armed) { //brake or thottle not pressed if (throttle_pos<=0 && brake_pos<=0 && controllers_connected && !armed) { //brake or thottle not pressed, controllers connected
armed=true; //arm if button pressed long enough armed=true; //arm if button pressed long enough
writeLogComment(Serial1,loopmillis, "Armed by button"); writeLogComment(Serial1,loopmillis, "Armed by button");
} }