From 901c46af345afb84d031ceff853a7ace94804375 Mon Sep 17 00:00:00 2001
From: Fisch <interfisch@gmx.net>
Date: Tue, 17 Dec 2019 23:12:58 +0100
Subject: [PATCH] add slower rate for braking

---
 controller/controller.ino       |  8 +++++++-
 other/filtertest/filtertest.pde | 31 +++++++++++++++++++++++++++----
 2 files changed, 34 insertions(+), 5 deletions(-)

diff --git a/controller/controller.ino b/controller/controller.ino
index 028895e..0b3afe3 100644
--- a/controller/controller.ino
+++ b/controller/controller.ino
@@ -57,6 +57,7 @@ long loopmillis=0; //only use one millis reading each loop
 long last_looptime=0; //for looptiming
 #define LOOPTIME 10 //how often the loop(s) should run
 long millis_lastchange=0; //for poweroff after some time with no movement
+#define MAXBRAKERATE 7 //maximum rate for braking (loop timing)
 
 String errormessage=""; //store some error message to print
 
@@ -66,7 +67,7 @@ long state_modechange_time=0;
 
 long millis_lastadc=0;
 #define ADC_READTIME 10 //time interval to read adc (for filtering)
-#define ADC_THROTTLE_FILTER 0.05 //low value = slower change
+#define ADC_THROTTLE_FILTER 0.2 //low value = slower change
 int adc_throttle_raw=0; //raw throttle value from adc
 float adc_throttle=0; //filtered value
 
@@ -449,6 +450,11 @@ void loop_idle() {
 
 void loop_on() {
   int16_t speedvalue=constrain( map(adc_throttle, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, 1000 ) ,0, 1000);
+  int16_t lastSpeed=(out_speedFL+out_speedFR+out_speedRL+out_speedRR)/4;
+  
+  if (speedvalue<=lastSpeed) { //braking
+    speedvalue = (lastSpeed-speedvalue)>MAXBRAKERATE ? (lastSpeed-MAXBRAKERATE):speedvalue;
+  }
 
   out_speedFL=speedvalue;
   out_speedFR=speedvalue;
diff --git a/other/filtertest/filtertest.pde b/other/filtertest/filtertest.pde
index 831c103..a47419c 100644
--- a/other/filtertest/filtertest.pde
+++ b/other/filtertest/filtertest.pde
@@ -12,12 +12,17 @@ long lastReadADC=0;
 long lastSend=0;
 long lastHBLoop=0;
 
+int LOOPTIME_CONTROLLER=10; //controller looptime
+long lastLoopController=0;
 int ADC_CALIB_THROTTLE_MIN=2000; //controller
 int ADC_CALIB_THROTTLE_MAX=3120; //controller
 int ADC_READTIME=10; //controller. in ms
 int adc_throttle_raw=ADC_CALIB_THROTTLE_MIN; //controller. raw value read from adc (here slider)
 float adc_throttle=adc_throttle_raw; //controller. internally filtered value
-float ADC_THROTTLE_FILTER=0.05; //controller
+float ADC_THROTTLE_FILTER=0.2; //controller
+
+int speedvalue=0;
+int MAXBRAKERATE=7; //Controller
 
 int SENDPERIOD=50; //controller. in ms
 int sendSpeed=0; //transmittet speed value over usart
@@ -30,6 +35,7 @@ int outSpeed=0; //hoverboard. speedvalue for pwm. filtered speedRate
 
 Slider SinputValue;
 Slider SfilteredInputValue;
+Slider SspeedValue;
 Slider SspeedRate;
 Slider SoutSpeed;
 
@@ -62,14 +68,20 @@ void setup() {
      .setRange(ADC_CALIB_THROTTLE_MIN,ADC_CALIB_THROTTLE_MAX)
      ;
      
-  SspeedRate=cp5.addSlider("speedRate")
+  SspeedValue=cp5.addSlider("speedValue") //after brake slowing
      .setPosition(10,50+30+10+20+10)
      .setSize(500,20)
      .setRange(0,1000)
      ;
      
+  SspeedRate=cp5.addSlider("speedRate")
+     .setPosition(10,50+30+10+20+10+20+10)
+     .setSize(500,20)
+     .setRange(0,1000)
+     ;
+     
   SoutSpeed=cp5.addSlider("outSpeed")
-     .setPosition(1,50+30+10+20+10+20+10)
+     .setPosition(1,50+30+10+20+10+20+10+20+10)
      .setSize(500,30)
      .setRange(0,1000)
      ;
@@ -152,9 +164,20 @@ void draw() {
     adc_throttle = adc_throttle*(1-ADC_THROTTLE_FILTER) + adc_throttle_raw*ADC_THROTTLE_FILTER; //adc_throttle = adc_throttle*(1-ADC_THROTTLE_FILTER) + adc_throttle_raw*ADC_THROTTLE_FILTER;
     SfilteredInputValue.setValue(adc_throttle);
   }
+  if (loopmillis-lastLoopController>LOOPTIME_CONTROLLER){ //frequency of controller LOOPTIME
+    lastLoopController=millis();
+    int lastSpeed=speedvalue;
+    speedvalue=int(constrain( map(adc_throttle, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, 1000 ) ,0, 1000));
+    
+    if (speedvalue<=lastSpeed) { //braking
+      speedvalue = (lastSpeed-speedvalue)>MAXBRAKERATE ? (lastSpeed-MAXBRAKERATE):speedvalue;
+    }
+    SspeedValue.setValue(speedvalue);
+  }
+    
   if (loopmillis-lastSend>SENDPERIOD){ //Frequency of transmitting new values to the hoverboard
     lastSend=millis();
-    sendSpeed=int(constrain( map(adc_throttle, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, 1000 ) ,0, 1000));
+    sendSpeed=speedvalue;
   }
   
   if (loopmillis-lastHBLoop>LOOPTIME){ //frequency of hoverboard mainboard (looptime)