improve disable logging check and add experimental tanksteering
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a8d43211e9
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156455f363
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@ -72,9 +72,22 @@ void setup()
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pinMode(PIN_PWRBUTTON, INPUT_PULLUP); //Pressed=High
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if (!digitalRead(PIN_PWRBUTTON)) { //button is not pressed during startup means teensy is powered externally (usb)
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datalogging=false; //disable logging when connected via usb to not clutter up sd card
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Serial.println("PWRBUTTON not pressed. Logging disabled!");
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datalogging=false; //disable logging when connected via usb to not clutter up sd card
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Serial.print("PWRBUTTON ");
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for (uint8_t i=0;i<10;i++) { //check a few times
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if (!digitalRead(PIN_PWRBUTTON)) { //button is not pressed during startup means teensy is powered externally (usb)
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Serial.print(".");
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delay(100); //give more time to disable logging
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}else{
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datalogging=true; //button presse at least once recognized. enable logging
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Serial.print("X");
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}
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}
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if (!datalogging){
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Serial.println(" not pressed. Logging disabled!");
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}else{
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Serial.println(" Pressed. Logging enabled");
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}
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pinMode(PIN_LED_START, OUTPUT); //Active High
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@ -92,7 +105,7 @@ void setup()
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led_testLEDSBlocking();
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delay(2000);
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delay(100);
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Serial.println("Init Functions");
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led_simpeProgress(0,1);
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@ -519,27 +532,114 @@ void calculateSetSpeed(unsigned long timediff){
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}
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//acceleration
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// ## Acceleration
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cmd_send += constrain(adjusted_throttle_pos-cmd_send,0,(int16_t)(max_acceleration_rate*(timediff/1000.0)) ); //if throttle higher than last applied value, apply throttle directly with rate limit
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cmd_send=constrain(cmd_send,0,throttle_max);
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last_cmd_send=cmd_send;
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int16_t cmd_send_toMotor=constrain(cmd_send* (1.0-(brake_pos*0.5/1000.0) ) ,0,throttle_max); //brake "ducking"
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int16_t cmd_send_toMotor_FL=0;
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int16_t cmd_send_toMotor_FR=0;
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int16_t cmd_send_toMotor_RL=0;
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int16_t cmd_send_toMotor_RR=0;
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int16_t _cmd_send_toMotor=constrain(cmd_send* (1.0-(brake_pos*0.5/1000.0) ) ,0,throttle_max); //brake "ducking"
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if (reverse_enabled) {
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cmd_send_toMotor-=brake_pos*reverse_speed;
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cmd_send_toMotor_FL=_cmd_send_toMotor;
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cmd_send_toMotor_FR=_cmd_send_toMotor;
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cmd_send_toMotor_RL=_cmd_send_toMotor;
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cmd_send_toMotor_RR=_cmd_send_toMotor;
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// ## Experimental Tank steering
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static float tanksteering_differential=0; //to ramp up slowly. value between -1.0 and 1.0
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//Parameters:
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int16_t tanksteering_max_speed=200;
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float tanksteering_rate_increase=1.0; //increase units per second
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float tanksteering_rate_decrease=1.5; //decrease units per second
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if (control_buttonA && !control_buttonB && !reverse_enabled && throttle_pos<=0) { //Right button (A) only. and throttle touched
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tanksteering_differential+=tanksteering_rate_increase*(timediff/1000.0);
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tanksteering_differential=constrain(tanksteering_differential,-1.0,1.0); //constrain between 0 and 1
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}else if(control_buttonB && !control_buttonA && !reverse_enabled && throttle_pos<=0) { //Left button (B) only. and throttle touched
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tanksteering_differential-=tanksteering_rate_increase*(timediff/1000.0);
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tanksteering_differential=constrain(tanksteering_differential,-1.0,1.0); //constrain between 0 and 1
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}else{ //buttons released
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if(tanksteering_differential>0) {
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tanksteering_differential-=tanksteering_rate_decrease*(timediff/1000.0);
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}else if(tanksteering_differential<0){
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tanksteering_differential+=tanksteering_rate_decrease*(timediff/1000.0);
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}
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tanksteering_differential=constrain(tanksteering_differential,-1.0,1.0); //constrain between 0 and 1
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}
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cmd_send_toMotor_FL+=tanksteering_differential*tanksteering_max_speed;
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cmd_send_toMotor_FR-=tanksteering_differential*tanksteering_max_speed;
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cmd_send_toMotor_RL+=tanksteering_differential*tanksteering_max_speed;
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cmd_send_toMotor_RR-=tanksteering_differential*tanksteering_max_speed;
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// ## Braking, Reversing and Standstill movements below here ##
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if (reverse_enabled) { //backwards driving not prohibited
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_cmd_send_toMotor-=brake_pos*reverse_speed;
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cmd_send_toMotor_FL=_cmd_send_toMotor;
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cmd_send_toMotor_FR=_cmd_send_toMotor;
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cmd_send_toMotor_RL=_cmd_send_toMotor;
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cmd_send_toMotor_RR=_cmd_send_toMotor;
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}
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/*
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float steeringdifferential_speed=0.1; //Speed for turning the steering wheel by differtially driving the front wheels
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static bool reverse_enabled2=true; //pohibit instant reverse driving when releasing steering wheel buttons when brake is still pressed. wait for throttle and brake to release once
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if (!reverse_enabled2 && throttle_pos<=0 && brake_pos<=0){
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reverse_enabled2=true;
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}
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if (reverse_enabled) { //backwards driving not prohibited
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if (control_buttonA && !control_buttonB) { //Right button (A) only
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cmd_send_toMotor_FL+=brake_pos*steeringdifferential_speed;
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cmd_send_toMotor_FR-=brake_pos*steeringdifferential_speed;
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//cmd_send_toMotor_RL-=0;
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//cmd_send_toMotor_RR-=0;
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reverse_enabled2=false;
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}else if(control_buttonB && !control_buttonA) { //Left button (B) only
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cmd_send_toMotor_FL-=brake_pos*steeringdifferential_speed;
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cmd_send_toMotor_FR+=brake_pos*steeringdifferential_speed;
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//cmd_send_toMotor_RL-=0;
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//cmd_send_toMotor_RR-=0;
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reverse_enabled2=false;
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}else if(reverse_enabled2){ //no button on steering wheel pressed, drive backwards
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_cmd_send_toMotor-=brake_pos*reverse_speed;
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cmd_send_toMotor_FL=_cmd_send_toMotor;
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cmd_send_toMotor_FR=_cmd_send_toMotor;
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cmd_send_toMotor_RL=_cmd_send_toMotor;
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cmd_send_toMotor_RR=_cmd_send_toMotor;
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}
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}
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*/
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if (!controllers_connected || !armed) { //controllers not connected or not armed
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cmd_send=0;
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cmd_send_toMotor=0; //safety off
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cmd_send_toMotor_FL=0; //safety off
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cmd_send_toMotor_FR=0; //safety off
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cmd_send_toMotor_RL=0; //safety off
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cmd_send_toMotor_RR=0; //safety off
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}
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escFront.setSpeed(cmd_send_toMotor,cmd_send_toMotor);
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escRear.setSpeed(cmd_send_toMotor,cmd_send_toMotor);
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escFront.setSpeed(cmd_send_toMotor_FL,cmd_send_toMotor_FR);
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escRear.setSpeed(cmd_send_toMotor_RL,cmd_send_toMotor_RR);
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log_update=true;
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}
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