fix tank steering in standstill
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7734c41809
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4ef6e7448b
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@ -607,27 +607,38 @@ void calculateSetSpeed(unsigned long timediff){
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float steeringdifferential_speed=0.3; //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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static bool tanksteering_prohibit_left=false;
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static bool tanksteering_prohibit_right=false;
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static bool prohibit_reverse=false;
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if (control_buttonA && !control_buttonB) { //Right button (A) only
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tanksteering_prohibit_left=true;
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prohibit_reverse=true;
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}else if(control_buttonB && !control_buttonA) {//Left button (B) only
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tanksteering_prohibit_right=true;
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prohibit_reverse=true;
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}else if(!control_buttonA && !control_buttonB){ //no button pressed
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tanksteering_prohibit_left=true;
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tanksteering_prohibit_right=true;
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if (throttle_pos<=0 && brake_pos<=0) {//levers released
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tanksteering_prohibit_left=false;
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tanksteering_prohibit_right=false;
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prohibit_reverse=false;
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}
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}
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if (!tanksteering_prohibit_right && tanksteering_prohibit_left && prohibit_reverse) { //Right Tanksteering
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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+=brake_pos*steeringdifferential_speed;
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cmd_send_toMotor_RR-=brake_pos*steeringdifferential_speed;
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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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}else if(tanksteering_prohibit_right && !tanksteering_prohibit_left && prohibit_reverse) { //Left Tanksteering
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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-=brake_pos*steeringdifferential_speed;
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cmd_send_toMotor_RR+=brake_pos*steeringdifferential_speed;
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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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}else if(tanksteering_prohibit_right && tanksteering_prohibit_left && !prohibit_reverse){ //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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