move functions in loop to own functions
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@ -26,6 +26,11 @@ unsigned long last_log_send=0;
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#define WRITE_HEADER_TIME 1000
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bool log_header_written = false;
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#define FEEDBACKRECEIVETIMEOUT 500
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bool controllerFront_connected=false;
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bool controllerRear_connected=false;
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bool controllers_connected=false;
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#define PIN_THROTTLE A7
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@ -126,6 +131,12 @@ float filterMedian(int16_t* values);
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void writeLogHeader(HardwareSerial &SerialRef);
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void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpfront, MotorParameter &mprear, SerialFeedback &fbfront, SerialFeedback &fbrear, float currentAll, int16_t throttle, int16_t brake);
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void writeLogComment(HardwareSerial &SerialRef, String msg);
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void readADC();
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void failChecks();
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void sendCMD();
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void checkLog();
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void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef)
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{
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@ -241,41 +252,13 @@ void loop() {
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bool newData3=ReceiveSerial(SerialcomRear,FeedbackRear, NewFeedbackRear, Serial3);
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if (loopmillis - last_adcread > ADCREADPERIOD) {
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//read teensy adc and filter
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if (loopmillis - last_adcread > ADCREADPERIOD) { //read teensy adc and filter
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last_adcread=loopmillis;
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uint16_t throttle_raw = analogRead(PIN_THROTTLE);
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throttle_pos=max(0,min(1000,map(throttle_raw,calib_throttle_min,calib_throttle_max,0,1000))); //map and constrain
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uint16_t brake_raw = analogRead(PIN_BRAKE);
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brake_pos=max(0,min(1000,map(brake_raw,calib_brake_min,calib_brake_max,0,1000))); //map and constrain
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int16_t throttlebreak_pos = throttle_pos-brake_pos*2; //reduce throttle_when applying brake
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throttle_pos=constrain(throttlebreak_pos,0,1000);
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brake_pos=constrain(-throttlebreak_pos/2,0,1000); //rescale brake value from throttlebreak_pos
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//Serial.print(throttle_raw); Serial.print(", "); Serial.print(brake_raw); Serial.print(", ");
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//Serial.print(throttle_pos); Serial.print(", "); Serial.print(brake_pos); Serial.println();
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if (digitalRead(PIN_MODE_SWITCH)) { //pushed in, also high if cable got disconnected
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throttle_pos/=2;
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digitalWrite(PIN_MODE_LEDG,LOW); //Green, low is on
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digitalWrite(PIN_MODE_LEDR,HIGH);
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}else{ //button not pushed in
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digitalWrite(PIN_MODE_LEDG,HIGH);
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digitalWrite(PIN_MODE_LEDR,LOW); //Red
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}
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readADC();
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}
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#define FEEDBACKRECEIVETIMEOUT 500
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if ( (loopmillis > motorparamsFront.millis+FEEDBACKRECEIVETIMEOUT) | (loopmillis > motorparamsRear.millis+FEEDBACKRECEIVETIMEOUT) ) { //timeout of at least one controller
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throttle_pos=0;
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brake_pos=0;
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controllers_connected=false;
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}else if(!controllers_connected) { //not timeouted but was before
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controllers_connected=true;
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}
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failChecks();
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@ -297,71 +280,15 @@ void loop() {
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log_update=true;
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}
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if (loopmillis - last_send > SENDPERIOD) {
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//Calculate motor stuff and send to motor controllers
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if (loopmillis - last_send > SENDPERIOD) { //Calculate motor stuff and send to motor controllers
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last_send=loopmillis;
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int16_t cmdreduce_constant=map(brake_pos,0,1000,0,10); //reduce cmd value every cycle
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#define MAXBREAKCURRENT 5
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float brakepedal_current_multiplier=MAXBREAKCURRENT/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000)
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float freewheel_current=0.1+brake_pos*brakepedal_current_multiplier; //above which driving current cmd send will be reduced more. increase value to decrease breaking. values <0 increases breaking above freewheeling
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float freewheel_break_factor=500.0; //speed cmd units per amp per second. 1A over freewheel_current decreases cmd speed by this amount (in average)
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motorparamsFront.filtered_curL=filterMedian(motorparamsFront.curL_DC)/50.0; //in Amps
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motorparamsFront.filtered_curR=filterMedian(motorparamsFront.curR_DC)/50.0; //in Amps
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motorparamsRear.filtered_curL=filterMedian(motorparamsRear.curL_DC)/50.0; //in Amps
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motorparamsRear.filtered_curR=filterMedian(motorparamsRear.curR_DC)/50.0; //in Amps
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float filtered_currentFront=max(motorparamsFront.filtered_curL,motorparamsFront.filtered_curR);
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float filtered_currentRear=max(motorparamsRear.filtered_curL,motorparamsRear.filtered_curR);
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filtered_currentAll=max(filtered_currentFront,filtered_currentRear);
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if (throttle_pos>=last_cmd_send) { //accelerating
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cmd_send = throttle_pos; //if throttle higher than apply throttle directly
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}else{ //freewheeling or braking
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if (filtered_currentAll<freewheel_current) { //drive current too high
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cmd_send-= max(0, (-filtered_currentAll+freewheel_current)*freewheel_break_factor*(SENDPERIOD/1000.0)); //how much current over freewheel current, multiplied by factor. reduces cmd_send value
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}
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cmd_send-=max(1,cmdreduce_constant); //reduce slowly anyways
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cmd_send=constrain(cmd_send,0,1000);
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}
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if (!controllers_connected) { //controllers not connected
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cmd_send=0; //safety off
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}
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last_cmd_send=cmd_send;
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//apply throttle command to all motors
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motorparamsFront.cmdL=cmd_send;
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motorparamsFront.cmdR=cmd_send;
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motorparamsRear.cmdL=cmd_send;
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motorparamsRear.cmdR=cmd_send;
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if (controllers_connected) {
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SendSerial(CommandFront,motorparamsFront.cmdL,motorparamsFront.cmdR,Serial2);
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SendSerial(CommandRear,motorparamsRear.cmdL,motorparamsRear.cmdR,Serial3);
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log_update=true;
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//Serial.print(cmd_send); Serial.print(", "); Serial.print(throttle_pos); Serial.print(", "); Serial.print(filtered_curFL*1000); Serial.print(", "); Serial.print(filtered_curFR*1000); Serial.print(", "); Serial.print(filtered_currentAll*1000); Serial.println()
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}
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sendCMD();
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}
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// ######## LOG ########
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if (!log_header_written && loopmillis>=WRITE_HEADER_TIME){
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writeLogHeader(Serial1); //connection recovered, write log header
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log_header_written=true;
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}
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if ((log_header_written && log_update && loopmillis>last_log_send+LOGMININTERVAL) || loopmillis>last_log_send+LOGMAXINTERVAL) {
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last_log_send=loopmillis;
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log_update=false;
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writeLog(Serial1,loopmillis, motorparamsFront,motorparamsRear, FeedbackFront, FeedbackRear, filtered_currentAll, throttle_pos, brake_pos);
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}
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checkLog();
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}
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int sort_desc(const void *cmp1, const void *cmp2) //compare function for qsort
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@ -425,3 +352,124 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
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SerialRef.print(throttle); SerialRef.print(",");
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SerialRef.print(brake); SerialRef.println();
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}
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void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg)
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{
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SerialRef.print("#"); SerialRef.print(time/1000.0,3); SerialRef.print(","); SerialRef.print(msg); SerialRef.println();
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}
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void readADC() {
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uint16_t throttle_raw = analogRead(PIN_THROTTLE);
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throttle_pos=max(0,min(1000,map(throttle_raw,calib_throttle_min,calib_throttle_max,0,1000))); //map and constrain
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uint16_t brake_raw = analogRead(PIN_BRAKE);
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brake_pos=max(0,min(1000,map(brake_raw,calib_brake_min,calib_brake_max,0,1000))); //map and constrain
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int16_t throttlebreak_pos = throttle_pos-brake_pos*2; //reduce throttle_when applying brake
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throttle_pos=constrain(throttlebreak_pos,0,1000);
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brake_pos=constrain(-throttlebreak_pos/2,0,1000); //rescale brake value from throttlebreak_pos
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//Serial.print(throttle_raw); Serial.print(", "); Serial.print(brake_raw); Serial.print(", ");
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//Serial.print(throttle_pos); Serial.print(", "); Serial.print(brake_pos); Serial.println();
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if (digitalRead(PIN_MODE_SWITCH)) { //pushed in, also high if cable got disconnected
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throttle_pos/=2;
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digitalWrite(PIN_MODE_LEDG,LOW); //Green, low is on
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digitalWrite(PIN_MODE_LEDR,HIGH);
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}else{ //button not pushed in
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digitalWrite(PIN_MODE_LEDG,HIGH);
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digitalWrite(PIN_MODE_LEDR,LOW); //Red
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}
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}
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void failChecks() {
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if ( loopmillis > motorparamsFront.millis+FEEDBACKRECEIVETIMEOUT ) { //controller disconnected
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if (controllerFront_connected) { //just got disconnected
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controllerFront_connected=false;
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writeLogComment(Serial1,loopmillis, "Controller Front feedback timeout");
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}
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}else if(!controllerFront_connected) { //not timeouted but was before
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controllerFront_connected=true;
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writeLogComment(Serial1,loopmillis, "Controller Front connected");
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}
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if ( loopmillis > motorparamsRear.millis+FEEDBACKRECEIVETIMEOUT ) { //controller disconnected
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if (controllerRear_connected) { //just got disconnected
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controllerRear_connected=false;
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writeLogComment(Serial1,loopmillis, "Controller Rear feedback timeout");
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}
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}else if(!controllerRear_connected) { //not timeouted but was before
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controllerRear_connected=true;
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writeLogComment(Serial1,loopmillis, "Controller Rear connected");
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}
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controllers_connected=controllerFront_connected & controllerRear_connected;
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if (!controllers_connected) { //controllers not available
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throttle_pos=0;
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brake_pos=0;
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}
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}
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void sendCMD() {
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int16_t cmdreduce_constant=map(brake_pos,0,1000,0,10); //reduce cmd value every cycle
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#define MAXBREAKCURRENT 5
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float brakepedal_current_multiplier=MAXBREAKCURRENT/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000)
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float freewheel_current=0.1+brake_pos*brakepedal_current_multiplier; //above which driving current cmd send will be reduced more. increase value to decrease breaking. values <0 increases breaking above freewheeling
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float freewheel_break_factor=500.0; //speed cmd units per amp per second. 1A over freewheel_current decreases cmd speed by this amount (in average)
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motorparamsFront.filtered_curL=filterMedian(motorparamsFront.curL_DC)/50.0; //in Amps
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motorparamsFront.filtered_curR=filterMedian(motorparamsFront.curR_DC)/50.0; //in Amps
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motorparamsRear.filtered_curL=filterMedian(motorparamsRear.curL_DC)/50.0; //in Amps
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motorparamsRear.filtered_curR=filterMedian(motorparamsRear.curR_DC)/50.0; //in Amps
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float filtered_currentFront=max(motorparamsFront.filtered_curL,motorparamsFront.filtered_curR);
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float filtered_currentRear=max(motorparamsRear.filtered_curL,motorparamsRear.filtered_curR);
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filtered_currentAll=max(filtered_currentFront,filtered_currentRear);
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if (throttle_pos>=last_cmd_send) { //accelerating
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cmd_send = throttle_pos; //if throttle higher than apply throttle directly
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}else{ //freewheeling or braking
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if (filtered_currentAll<freewheel_current) { //drive current too high
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cmd_send-= max(0, (-filtered_currentAll+freewheel_current)*freewheel_break_factor*(SENDPERIOD/1000.0)); //how much current over freewheel current, multiplied by factor. reduces cmd_send value
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}
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cmd_send-=max(1,cmdreduce_constant); //reduce slowly anyways
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cmd_send=constrain(cmd_send,0,1000);
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}
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if (!controllers_connected) { //controllers not connected
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cmd_send=0; //safety off
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}
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last_cmd_send=cmd_send;
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//apply throttle command to all motors
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motorparamsFront.cmdL=cmd_send;
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motorparamsFront.cmdR=cmd_send;
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motorparamsRear.cmdL=cmd_send;
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motorparamsRear.cmdR=cmd_send;
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if (controllers_connected) {
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SendSerial(CommandFront,motorparamsFront.cmdL,motorparamsFront.cmdR,Serial2);
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SendSerial(CommandRear,motorparamsRear.cmdL,motorparamsRear.cmdR,Serial3);
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log_update=true;
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//Serial.print(cmd_send); Serial.print(", "); Serial.print(throttle_pos); Serial.print(", "); Serial.print(filtered_curFL*1000); Serial.print(", "); Serial.print(filtered_curFR*1000); Serial.print(", "); Serial.print(filtered_currentAll*1000); Serial.println()
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}
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}
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void checkLog() {
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if (!log_header_written && loopmillis>=WRITE_HEADER_TIME){
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writeLogHeader(Serial1); //connection recovered, write log header
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log_header_written=true;
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}
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if ((log_header_written && log_update && loopmillis>last_log_send+LOGMININTERVAL) || loopmillis>last_log_send+LOGMAXINTERVAL) {
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last_log_send=loopmillis;
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log_update=false;
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writeLog(Serial1,loopmillis, motorparamsFront,motorparamsRear, FeedbackFront, FeedbackRear, filtered_currentAll, throttle_pos, brake_pos);
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}
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}
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