fix safety off
This commit is contained in:
parent
aea62ec868
commit
955696d428
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@ -4,6 +4,8 @@
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unsigned long loopmillis;
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unsigned long loopmillis;
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unsigned long last_loopmillis;
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unsigned long last_loopmillis;
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//for testing debug
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uint8_t debug_count_disarmedbecauseofnrfdelay=0;
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#include <TimeLib.h> //for teensy rtc
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#include <TimeLib.h> //for teensy rtc
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time_t getTeensy3Time();
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time_t getTeensy3Time();
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@ -65,7 +67,7 @@ bool button_down_click=false;
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#define PIN_GAMETRAK_HORIZONTAL A9 //A9=23
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#define PIN_GAMETRAK_HORIZONTAL A9 //A9=23
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float speed_coefficient_nrf=1.0; // higher value == stronger
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float speed_coefficient_nrf=0.4; // higher value == stronger
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float steer_coefficient_nrf=0.5; // higher value == stronger
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float steer_coefficient_nrf=0.5; // higher value == stronger
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float speed_coefficient_gt=1.0; // higher value == stronger
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float speed_coefficient_gt=1.0; // higher value == stronger
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@ -77,8 +79,7 @@ long last_adcupdated=0;
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#define ADC_UPDATEPERIOD 10 //in ms
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#define ADC_UPDATEPERIOD 10 //in ms
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#define CONTROLUPDATEPERIOD 10
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#define CONTROLUPDATEPERIOD 10
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long last_controlupdate = 0;
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float filter_nrf_set_speed=0.06; //higher value, faster response. depends on CONTROLUPDATEPERIOD
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float filter_nrf_set_speed=0.02; //higher value, faster response. depends on CONTROLUPDATEPERIOD
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float filter_nrf_set_steer=0.06;
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float filter_nrf_set_steer=0.06;
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float filter_stop_set_speed=0.015; //safety stop
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float filter_stop_set_speed=0.015; //safety stop
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@ -185,7 +186,7 @@ boolean setup_directon_press_right=false;
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long last_send = 0;
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int16_t set_speed = 0;
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int16_t set_speed = 0;
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int16_t set_steer = 0;
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int16_t set_steer = 0;
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@ -462,11 +463,10 @@ void loop() {
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}else if ((lastnrfdata.commands & (1 << 2))>>0) { //up
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}else if ((lastnrfdata.commands & (1 << 2))>>0) { //up
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setup_directon_press_up = true;
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setup_directon_press_up = true;
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Serial.println("RF Button Up");
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Serial.println("RF Button Up");
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speed_coefficient_nrf=1.0;
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}else if ((lastnrfdata.commands & (1 << 3))>>0) { //down
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}else if ((lastnrfdata.commands & (1 << 3))>>0) { //down
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setup_directon_press_down = true;
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setup_directon_press_down = true;
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Serial.println("RF Button Down");
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Serial.println("RF Button Down");
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speed_coefficient_nrf=0.5;
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}else if ((lastnrfdata.commands & (1 << 4))>>0) { //right
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}else if ((lastnrfdata.commands & (1 << 4))>>0) { //right
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setup_directon_press_right = true;
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setup_directon_press_right = true;
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Serial.println("RF Button Right");
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Serial.println("RF Button Right");
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@ -477,17 +477,26 @@ void loop() {
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if (abs(set_speed)<10 && abs(set_steer)<10) { //standstill
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if (abs(set_speed)<10 && abs(set_steer)<10) { //standstill
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if (setup_directon_press_left) {
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if (setup_directon_press_left || setup_directon_press_right) {
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//Fast riding mode
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speed_coefficient_nrf=1.0;
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steer_coefficient_nrf=0.3;
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filter_nrf_set_speed=0.015;
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filter_nrf_set_steer=0.08;
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}
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}
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if (setup_directon_press_up) {
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if (setup_directon_press_up) {
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//Remote controlled Aggro
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speed_coefficient_nrf=1.0;
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steer_coefficient_nrf=0.5;
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filter_nrf_set_speed=0.08;
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filter_nrf_set_steer=0.08;
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}
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}
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if (setup_directon_press_down) {
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if (setup_directon_press_down) {
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//Remote controlled Walking
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}
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speed_coefficient_nrf=0.4;
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if (setup_directon_press_right) {
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steer_coefficient_nrf=0.5;
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filter_nrf_set_speed=0.06;
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filter_nrf_set_steer=0.06;
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}
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}
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}
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}
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setup_directon_press_left=false;
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setup_directon_press_left=false;
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@ -499,6 +508,7 @@ void loop() {
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if (controlmode == MODE_RADIONRF && nrf_delay >= MAX_NRFDELAY) { //too long since last sucessful nrf receive
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if (controlmode == MODE_RADIONRF && nrf_delay >= MAX_NRFDELAY) { //too long since last sucessful nrf receive
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controlmode = MODE_DISARMED;
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controlmode = MODE_DISARMED;
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debug_count_disarmedbecauseofnrfdelay++;
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#ifdef DEBUG
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#ifdef DEBUG
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Serial.println("nrf_delay>=MAX_NRFDELAY, disarmed!");
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Serial.println("nrf_delay>=MAX_NRFDELAY, disarmed!");
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#endif
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#endif
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@ -507,18 +517,28 @@ void loop() {
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if (lastpacketOK) { //if lastnrfdata is valid
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if (lastpacketOK) { //if lastnrfdata is valid
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if (loopmillis - last_controlupdate > CONTROLUPDATEPERIOD) {
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static unsigned long last_controlupdate_validnrf=0;
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last_controlupdate = loopmillis;
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if (loopmillis - last_controlupdate_validnrf > CONTROLUPDATEPERIOD) {
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last_controlupdate_validnrf = loopmillis;
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//out_speed=(int16_t)( (lastnrfdata.y-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
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//out_speed=(int16_t)( (lastnrfdata.y-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
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//out_steer=(int16_t)( -(lastnrfdata.x-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
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//out_steer=(int16_t)( -(lastnrfdata.x-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
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int16_t new_set_speed = (int16_t)( ((int16_t)(lastnrfdata.speed) - NRFDATA_CENTER) * 1000 / 127 ); //-1000 to 1000
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int16_t new_set_speed = (int16_t)( ((int16_t)(lastnrfdata.speed) - NRFDATA_CENTER) * 1000 / 127 ); //-1000 to 1000
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int16_t new_set_steer = (int16_t)( ((int16_t)(lastnrfdata.steer) - NRFDATA_CENTER) * 1000 / 127 ) * -1;
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int16_t new_set_steer = (int16_t)( ((int16_t)(lastnrfdata.steer) - NRFDATA_CENTER) * 1000 / 127 ) * -1;
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if (!motorenabled) { //when safety off, reason: remote relased
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if (abs(new_set_speed) < abs(set_speed)) { //only allow going slower
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set_speed = set_speed*(1.0-filter_nrf_set_speed) + new_set_speed*filter_nrf_set_speed; //simple Filter
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}
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if (abs(new_set_steer) < abs(set_steer)) { //only allow turning slower
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set_steer = set_steer*(1.0-filter_nrf_set_steer) + new_set_steer*filter_nrf_set_steer;
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}
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}else{
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set_speed = set_speed*(1.0-filter_nrf_set_speed) + new_set_speed*filter_nrf_set_speed; //simple Filter
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set_speed = set_speed*(1.0-filter_nrf_set_speed) + new_set_speed*filter_nrf_set_speed; //simple Filter
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set_steer = set_steer*(1.0-filter_nrf_set_steer) + new_set_steer*filter_nrf_set_steer;
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set_steer = set_steer*(1.0-filter_nrf_set_steer) + new_set_steer*filter_nrf_set_steer;
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//calculate speed l and r from speed and steer
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//calculate speed l and r from speed and steer
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int16_t _out_speedl,_out_speedr;
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int16_t _out_speedl,_out_speedr;
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@ -526,6 +546,7 @@ void loop() {
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_out_speedr = constrain(set_speed * speed_coefficient_nrf - set_steer * speed_coefficient_nrf * steer_coefficient_nrf, -1500, 1500);
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_out_speedr = constrain(set_speed * speed_coefficient_nrf - set_steer * speed_coefficient_nrf * steer_coefficient_nrf, -1500, 1500);
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esc.setSpeed(_out_speedl,_out_speedr);
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esc.setSpeed(_out_speedl,_out_speedr);
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}
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}
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}
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}//if pastpacket not ok, keep last out_steer and speed values until disarmed
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}//if pastpacket not ok, keep last out_steer and speed values until disarmed
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@ -590,8 +611,9 @@ void loop() {
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}
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}
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//calculate speed l and r from speed and steer
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//calculate speed l and r from speed and steer
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if (loopmillis - last_controlupdate > CONTROLUPDATEPERIOD) {
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static unsigned long last_controlupdate_gt=0;
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last_controlupdate = loopmillis;
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if (loopmillis - last_controlupdate_gt > CONTROLUPDATEPERIOD) {
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last_controlupdate_gt = loopmillis;
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int16_t _out_speedl,_out_speedr;
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int16_t _out_speedl,_out_speedr;
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_out_speedl = constrain(set_speed * speed_coefficient_gt + set_steer * speed_coefficient_gt * steer_coefficient_gt, -1000, 1000)*safetymultiplier;
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_out_speedl = constrain(set_speed * speed_coefficient_gt + set_steer * speed_coefficient_gt * steer_coefficient_gt, -1000, 1000)*safetymultiplier;
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_out_speedr = constrain(set_speed * speed_coefficient_gt - set_steer * speed_coefficient_gt * steer_coefficient_gt, -1000, 1000)*safetymultiplier;
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_out_speedr = constrain(set_speed * speed_coefficient_gt - set_steer * speed_coefficient_gt * steer_coefficient_gt, -1000, 1000)*safetymultiplier;
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@ -611,8 +633,9 @@ void loop() {
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set_speed=0;
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set_speed=0;
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set_steer=0;
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set_steer=0;
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}
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}
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if (loopmillis - last_controlupdate > CONTROLUPDATEPERIOD) {
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static unsigned long last_controlupdate_disarmed=0;
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last_controlupdate = loopmillis;
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if (loopmillis - last_controlupdate_disarmed > CONTROLUPDATEPERIOD) {
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last_controlupdate_disarmed = loopmillis;
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set_speed = set_speed*(1.0-filter_stop_set_speed); //simple Filter
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set_speed = set_speed*(1.0-filter_stop_set_speed); //simple Filter
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set_steer = set_steer*(1.0-filter_stop_set_steer);
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set_steer = set_steer*(1.0-filter_stop_set_steer);
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int16_t _out_speedl,_out_speedr;
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int16_t _out_speedl,_out_speedr;
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@ -624,11 +647,10 @@ void loop() {
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if (esc.sendPending(loopmillis)) {
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if (!motorenabled) {//motors disabled. Used for safety off when remote released
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if (!motorenabled) {//motors disabled. Used for safety off when remote released
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if (loopmillis - last_controlupdate > CONTROLUPDATEPERIOD) {
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static unsigned long last_controlupdate_motordisabled=0;
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last_controlupdate = loopmillis;
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if (loopmillis - last_controlupdate_motordisabled > CONTROLUPDATEPERIOD) {
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last_controlupdate_motordisabled = loopmillis;
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set_speed = set_speed*(1.0-filter_stop_set_speed); //simple Filter
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set_speed = set_speed*(1.0-filter_stop_set_speed); //simple Filter
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set_steer = set_steer*(1.0-filter_stop_set_steer);
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set_steer = set_steer*(1.0-filter_stop_set_steer);
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int16_t _out_speedl,_out_speedr;
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int16_t _out_speedl,_out_speedr;
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@ -637,24 +659,6 @@ void loop() {
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esc.setSpeed(_out_speedl,_out_speedr);
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esc.setSpeed(_out_speedl,_out_speedr);
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}
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}
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}
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}
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last_send = loopmillis;
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#ifdef DEBUG
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Serial.print(" out_speedl=");
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Serial.print(out_speedl);
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Serial.print(" out_speedr=");
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Serial.print(out_speedr);
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Serial.print(" checksum=");
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Serial.print(out_checksum);
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Serial.print(" controlmode=");
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Serial.print(controlmode);
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Serial.println();
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#endif
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}
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@ -674,7 +678,8 @@ void loop() {
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dataFile.print("current_L,current_R,");
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dataFile.print("current_L,current_R,");
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dataFile.print("rpm_L,rpm_R,");
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dataFile.print("rpm_L,rpm_R,");
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dataFile.print("temp,vbat,");
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dataFile.print("temp,vbat,");
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dataFile.println("trip,currentConsumed");
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dataFile.println("trip,currentConsumed,motorenabled,disarmedByDelay");
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dataFile.print("#TIMESTAMP:"); dataFile.println(now());
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logging_headerWritten=true;
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logging_headerWritten=true;
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}
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}
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dataFile.print(String(loopmillis)); dataFile.print(";");
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dataFile.print(String(loopmillis)); dataFile.print(";");
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@ -687,7 +692,9 @@ void loop() {
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dataFile.print(esc.getFeedback_boardTemp()); dataFile.print(";");
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dataFile.print(esc.getFeedback_boardTemp()); dataFile.print(";");
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dataFile.print(esc.getFeedback_batVoltage()); dataFile.print(";");
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dataFile.print(esc.getFeedback_batVoltage()); dataFile.print(";");
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dataFile.print(esc.getTrip()); dataFile.print(";");
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dataFile.print(esc.getTrip()); dataFile.print(";");
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dataFile.print(esc.getCurrentConsumed(),3);
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dataFile.print(esc.getCurrentConsumed(),3); dataFile.print(";");
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dataFile.print(motorenabled); dataFile.print(";");
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dataFile.print(debug_count_disarmedbecauseofnrfdelay);
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dataFile.println("");
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dataFile.println("");
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dataFile.close();
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dataFile.close();
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}
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}
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@ -1009,6 +1016,10 @@ void display_show_stats3() {
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display.print(F("nrfdata x,y=")); display.print(lastnrfdata.steer); display.print(F(", ")); display.println(lastnrfdata.speed);
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display.print(F("nrfdata x,y=")); display.print(lastnrfdata.steer); display.print(F(", ")); display.println(lastnrfdata.speed);
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display.print(F("nrfdata command=")); display.println(lastnrfdata.commands);
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display.print(F("nrfdata command=")); display.println(lastnrfdata.commands);
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display.print(F("disarmed delay#=")); display.println(debug_count_disarmedbecauseofnrfdelay);
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display.display(); // Show initial text
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display.display(); // Show initial text
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}
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}
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