Fixes Skateboard Variant
- fixed to RIGHT cable - fixed braking relative to the direction of motion - adjusted the braking amount to -400
This commit is contained in:
EmanuelFeru
parent
733fd80362
commit
290ed30765
32
Inc/config.h
32
Inc/config.h
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@ -324,11 +324,6 @@
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*/
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#define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
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// #define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
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#ifdef CONTROL_PWM_RIGHT
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#define DEBUG_SERIAL_USART2 // left sensor cable debug
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#else
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#define DEBUG_SERIAL_USART3 // right sensor cable debug
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#endif
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#define PWM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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// Min / Max values of each channel (use DEBUG to determine these values)
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#define PWM_CH1_MAX 1000 // (0 - 1000)
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@ -342,8 +337,13 @@
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// #define INVERT_L_DIRECTION
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// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
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// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
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#ifdef CONTROL_PWM_RIGHT
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#define DEBUG_SERIAL_USART2 // left sensor cable debug
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#else
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#define DEBUG_SERIAL_USART3 // right sensor cable debug
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#endif
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#endif
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// ############################# END OF VARIANT_PPM SETTINGS ############################
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// ############################# END OF VARIANT_PWM SETTINGS ############################
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@ -433,7 +433,7 @@
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// ############################# END OF VARIANT_TRANSPOTTER SETTINGS ########################
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// ################################# VARIANT_PWM SETTINGS ##############################
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// ################################# VARIANT_SKATEBOARD SETTINGS ##############################
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#ifdef VARIANT_SKATEBOARD
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/* ###### CONTROL VIA RC REMOTE ######
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* right sensor board cable. Connect PB10 to channel 1 and PB11 to channel 2 on receiver.
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@ -441,20 +441,15 @@
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*/
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#undef CTRL_MOD_REQ
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#define CTRL_MOD_REQ TRQ_MODE // SKATEBOARD works best in TORQUE Mode
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#define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
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// #define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
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#ifdef CONTROL_PWM_RIGHT
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#define DEBUG_SERIAL_USART2 // left sensor cable debug
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#else
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#define DEBUG_SERIAL_USART3 // right sensor cable debug
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#endif
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// #define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
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#define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
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#define PWM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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// Min / Max values of each channel (use DEBUG to determine these values)
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#define PWM_CH1_MAX 1000 // (0 - 1000)
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#define PWM_CH1_MIN -1000 // (-1000 - 0)
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#define PWM_CH2_MAX 700 // (0 - 1000)
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#define PWM_CH2_MIN -800 // (-1000 - 0)
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#define PWM_CH2_OUT_MIN -150 // (-1000 - 0) Change this value to adjust the braking amount
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#define PWM_CH2_OUT_MIN -400 // (-1000 - 0) Change this value to adjust the braking amount
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#define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
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#define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
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#define STEER_COEFFICIENT 0 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0.
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@ -463,8 +458,13 @@
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// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
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// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
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// #define STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode.
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#ifdef CONTROL_PWM_RIGHT
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#define DEBUG_SERIAL_USART2 // left sensor cable debug
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#else
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#define DEBUG_SERIAL_USART3 // right sensor cable debug
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#endif
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#endif
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// ############################# END OF VARIANT_PPM SETTINGS ############################
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// ############################# END OF VARIANT_SKATEBOARD SETTINGS ############################
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@ -241,8 +241,12 @@ int main(void) {
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#endif
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#ifdef VARIANT_SKATEBOARD
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if (cmd2 < 0) { // When Throttle pedal is negative, it acts as brake. This condition is to make sure it goes to 0 as we reach standstill (to avoid Reverse driving)
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cmd2 = (int16_t)((cmd2 * speedBlend) >> 15);
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if (cmd2 < 0) { // When Throttle is negative, it acts as brake. This condition is to make sure it goes to 0 as we reach standstill (to avoid Reverse driving)
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if (speedAvg > 0) { // Make sure the braking is opposite to the direction of motion
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cmd2 = (int16_t)(( cmd2 * speedBlend) >> 15);
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} else {
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cmd2 = (int16_t)((-cmd2 * speedBlend) >> 15);
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}
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}
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#endif
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