interfisch
/
bobbycar
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

fix speedms wrong direction

This commit is contained in:
interfisch 2023-05-23 23:57:22 +02:00
parent 47b67b8086
commit 73c70f8b95
4 changed files with 32 additions and 6 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
controller_teensy/include/definitions.h
View File

@ -29,7 +29,7 @@ bool controllers_connected=false;
//const uint16_t calib_throttle_min = 420; //better a bit too high than too low
//const uint16_t calib_throttle_max = 790;
const uint16_t failsafe_throttle_min = 4900; //if adc value falls below this failsafe is triggered. old 20
const uint16_t failsafe_throttle_max = 14000; //if adc value goes above this failsafe is triggered. old 1000
const uint16_t failsafe_throttle_max = 14500; //if adc value goes above this failsafe is triggered. old 1000
//const uint16_t throttleCurvePerMM[] = {414,460,490,511,527,539,548,555,561,567,573,578,584,590,599,611,630,657,697,754,789,795}; //adc values for every unit (mm) of linear travel
const uint16_t throttleCurvePerMM[] = {8485,8904,9177,9368,9513,9623,9705,9768,9823,9877,9932,9978,10032,10087,10169,10278,10451,10697,11061,11579,11898,11952}; //adc values for every unit (mm) of linear travel
#define PIN_BRAKE A8

29
controller_teensy/include/display.h
View File

@ -4,6 +4,10 @@
#include <Wire.h>
#include <Adafruit_GFX.h>
#include <Adafruit_SSD1306.h>
#include <Fonts/FreeMonoBold18pt7b.h>
#include <Fonts/FreeSansBold9pt7b.h>
#define SCREEN_WIDTH 128 // OLED display width, in pixels
#define SCREEN_HEIGHT 32 // OLED display height, in pixels
@ -15,6 +19,7 @@ Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
bool display_init();
void display_update();
bool display_init(){
if(!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
Serial.println(F("SSD1306 allocation failed"));
@ -30,17 +35,37 @@ bool display_init(){
void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear){
display.clearDisplay();
/*
display.setTextSize(1); // Normal 1:1 pixel scale
display.setTextColor(SSD1306_WHITE); // Draw white text
display.setCursor(0,0); // Start at top-left corner
display.print(F("Speed : ")); display.println((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0);
display.print(F("Throttle: ")); display.print(throttle_pos);
display.print(F(" Brake : ")); display.println(brake_pos);
display.print(F("Thr: ")); display.print(throttle_pos);
display.print(F(" Brk : ")); display.println(brake_pos);
display.print(F("Current : ")); display.println(filtered_currentAll);
display.print(F("Vbat : ")); display.print(escFront.getFeedback_batVoltage());
display.print(F(" / ")); display.println(escRear.getFeedback_batVoltage());
*/
display.setFont(&FreeMonoBold18pt7b);
display.setTextSize(1); // Normal 1:1 pixel scale
display.setTextColor(SSD1306_WHITE); // Draw white text
display.setCursor(0,SCREEN_HEIGHT-(SCREEN_HEIGHT-18)/2); // Start at top-left corner
float _speeddisplay=(-escFront.getMeanSpeed()-escRear.getMeanSpeed())/2.0*3.6;
//_speeddisplay=(millis()/1000)%21; //debugging
char buf[8];
dtostrf(_speeddisplay,1,1,buf);
String strbuf=buf;
if (strbuf.length()<4) { //pad spaces on the left
strbuf=" "+strbuf;
}
display.print(strbuf);
display.setCursor(SCREEN_WIDTH-25,SCREEN_HEIGHT-1);
display.setFont();
display.print("km/h");
display.display();
}

2
controller_teensy/include/logging.h
View File

@ -88,7 +88,7 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
dataFile.print(filtered_currentAll,3); dataFile.print(";");
dataFile.print(throttle_pos); dataFile.print(";");
dataFile.print(brake_pos); dataFile.print(";");
dataFile.print((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0); dataFile.print(";");
dataFile.print((-escFront.getMeanSpeed()-escRear.getMeanSpeed())/2.0); dataFile.print(";");
dataFile.print(escFront.getTrip()); dataFile.print(";");
dataFile.print(escFront.getCurrentConsumed(),3); dataFile.print(";");
dataFile.println("");

5
controller_teensy/src/main.cpp
View File

@ -300,7 +300,8 @@ void readADS() { //sequentially read ads and write to variable
void readADC() {
/*Serial.print(ads_throttle_A_raw); Serial.print('\t');
/*
Serial.print(ads_throttle_A_raw); Serial.print('\t');
Serial.print(ads_throttle_B_raw); Serial.print('\t');
Serial.print(ads_brake_raw); Serial.print('\t');
Serial.print(ads_control_raw); Serial.println();*/
@ -315,7 +316,7 @@ 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)
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;
}