working throttle and brake with slight freewheeling

controller_teensy/src/main.cpp

@@ -30,7 +30,7 @@ int16_t throttle_pos=0;
 int16_t brake_pos=0;
 
 unsigned long last_adcread=0;
-#define ADCREADPERIOD 100
+#define ADCREADPERIOD 25
 
 #define PIN_START A9
 #define PIN_LED_START 2 //Enginge start led
@@ -50,6 +50,7 @@ float avg_currentL=0;
 float avg_currentR=0;
 
 int16_t cmd_send=0;
+int16_t last_cmd_send=0;
 
 
 // Global variables for serial communication
@@ -62,6 +63,7 @@ typedef struct{
     long lastValidDataSerial_time;
 } SerialRead;
 SerialRead SerialcomFront;
+SerialRead SerialcomRear;
 
 
 typedef struct{
@@ -71,6 +73,7 @@ typedef struct{
    uint16_t checksum;
 } SerialCommand;
 SerialCommand CommandFront;
+SerialCommand CommandRear;
 
 
 typedef struct{
@@ -88,6 +91,8 @@ typedef struct{
 } SerialFeedback;
 SerialFeedback FeedbackFront;
 SerialFeedback NewFeedbackFront;
+SerialFeedback FeedbackRear;
+SerialFeedback NewFeedbackRear;
 
 #define CURRENT_FILTER_SIZE 100 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller)
 #define CURRENT_MEANVALUECOUNT 10 //0<= meanvaluecount < CURRENT_FILTER_SIZE/2. how many values will be used from sorted weight array from the center region. abour double this values reading are used
@@ -99,6 +104,7 @@ typedef struct{
   int16_t cmdR=0;
 } MotorParameter;
 MotorParameter motorparamsFront;
+MotorParameter motorparamsRear;
 
 
 void SendSerial(SerialCommand &scom, int16_t uSpeedLeft, int16_t uSpeedRight, HardwareSerial &SerialRef);
@@ -216,6 +222,7 @@ void loop() {
   loopmillis=millis(); //read millis for this cycle
 
   bool newData2=ReceiveSerial(SerialcomFront,FeedbackFront, NewFeedbackFront, Serial2);
+  bool newData3=ReceiveSerial(SerialcomRear,FeedbackRear, NewFeedbackRear, Serial3);
 
   
   if (loopmillis - last_adcread > ADCREADPERIOD) {
@@ -226,6 +233,10 @@ void loop() {
     uint16_t brake_raw = analogRead(PIN_BRAKE);
     brake_pos=max(0,min(1000,map(brake_raw,calib_brake_min,calib_brake_max,0,1000))); //map and constrain
 
+    if (brake_pos>0) { //pressed brake disables throttle
+      throttle_pos=0;
+    }
+
     //Serial.print(throttle_raw); Serial.print(", "); Serial.print(brake_raw); Serial.print(", ");
     //Serial.print(throttle_pos); Serial.print(", "); Serial.print(brake_pos); Serial.println();
 
@@ -247,37 +258,53 @@ void loop() {
     motorparamsFront.curL_DC[motorparamsFront.cur_pos] = FeedbackFront.curL_DC;
     motorparamsFront.curR_DC[motorparamsFront.cur_pos] = FeedbackFront.curR_DC;
   }
+  if (newData3) {
+    motorparamsRear.cur_pos++;
+    motorparamsRear.cur_pos%=CURRENT_FILTER_SIZE;
+    motorparamsRear.curL_DC[motorparamsRear.cur_pos] = FeedbackRear.curL_DC;
+    motorparamsRear.curR_DC[motorparamsRear.cur_pos] = FeedbackRear.curR_DC;
+  }
 
   if (loopmillis - last_send > SENDPERIOD) {
     //Calculate motor stuff and send to motor controllers
     last_send=loopmillis;
 
     int16_t cmdreduce_constant=map(brake_pos,0,1000,0,10); //reduce cmd value every cycle
-    #define MAXBREAKCURRENT 10
+    #define MAXBREAKCURRENT 20
     float brakepedal_current_multiplier=MAXBREAKCURRENT/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000)
 
-    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
+    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
     float freewheel_break_factor=1000.0; //speed cmd units per amp per second. 1A over freewheel_current decreases cmd speed by this amount (in average)
     float filtered_curFL=filterMedian(motorparamsFront.curL_DC)/50.0; //in Amps
     float filtered_curFR=filterMedian(motorparamsFront.curR_DC)/50.0; //in Amps
+    float filtered_curRL=filterMedian(motorparamsRear.curL_DC)/50.0; //in Amps
+    float filtered_curRR=filterMedian(motorparamsRear.curR_DC)/50.0; //in Amps
 
-    float filtered_currentAll=min(filtered_curFL,filtered_curFR);
+    float filtered_currentFront=min(filtered_curFL,filtered_curFR);
+    float filtered_currentRear=min(filtered_curRL,filtered_curRR);
 
-    if (throttle_pos>=motorparamsFront.cmdR) { //accelerating
+    float filtered_currentAll=min(filtered_currentFront,filtered_currentRear);
+
+    if (throttle_pos>=last_cmd_send) { //accelerating
       cmd_send = throttle_pos; //if throttle higher than apply throttle directly
     }else{ //freewheeling or braking
-      if (-filtered_currentAll>freewheel_current) { //drive current too high
+      if (filtered_currentAll<freewheel_current) { //drive current too high
-        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
+        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
       }
       cmd_send-=max(1,cmdreduce_constant); //reduce slowly anyways
       cmd_send=constrain(cmd_send,0,1000);
     }
     
+    last_cmd_send=cmd_send;
+
     //apply throttle command to all motors
     motorparamsFront.cmdL=cmd_send;
     motorparamsFront.cmdR=cmd_send;
+    motorparamsRear.cmdL=cmd_send;
+    motorparamsRear.cmdR=cmd_send;
 
     SendSerial(CommandFront,motorparamsFront.cmdL,motorparamsFront.cmdR,Serial2);
+    SendSerial(CommandRear,motorparamsRear.cmdL,motorparamsRear.cmdR,Serial3);
 
     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();