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add rc yaw channel

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interfisch 2025-08-09 14:24:47 +02:00
parent bf39d67be8
commit 5f48b6ef4a
2 changed files with 30 additions and 1 deletions
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14
controller_teensy/include/rc.h
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@ -21,6 +21,7 @@ static int count=0;
#define PPM_DEADBAND 5
#define PPM_CHANNEL_THROTTLE 1
#define PPM_CHANNEL_STEER 2
#define PPM_CHANNEL_YAW 3
#define PPM_CHANNEL_MODE 5
float ppm[PPM_CHANNELS];
@ -33,6 +34,7 @@ void printPPM();
int16_t getRCThrottle();
int16_t getRCSteer();
int16_t getRCYaw();
uint8_t getRCMode(uint8_t modes);
bool rc_fullcontrol_enabled=false; //full remote control. can be cancelled by button press
@ -98,6 +100,18 @@ int16_t getRCSteer() {
}
//Return value -1000 - 1000
int16_t getRCYaw() { //tank steering
if (ppm[PPM_CHANNEL_YAW-1]>PPM_MID+PPM_DEADBAND){
return constrain(map(ppm[PPM_CHANNEL_YAW-1],PPM_MID+PPM_DEADBAND,PPM_MAX,0,1000), 0,1000);
}else if (ppm[PPM_CHANNEL_YAW-1]<PPM_MID-PPM_DEADBAND){
return constrain(map(ppm[PPM_CHANNEL_YAW-1],PPM_MID-PPM_DEADBAND,PPM_MIN,0,-1000), -1000,0);
}else{
return 0;
}
}
//Return descrete value for equidistant ranges. modes = number of ranges.
uint8_t getRCMode(uint8_t modes) {
float v=constrain(map(ppm[PPM_CHANNEL_MODE-1],PPM_MIN,PPM_MAX,0.0,1.0), 0.0,0.999);

17
controller_teensy/src/main.cpp
View file

@ -584,6 +584,7 @@ void calculateSetSpeed(unsigned long timediff){
#ifdef RC
int16_t differential_steering_max=200;
int16_t differential_yaw_max=500; //tank steering
#define RC_STEER_ENABLE_WAITTIME 1000/SENDPERIOD*2; //in cycles. every SENDPERIOD
static uint16_t rc_steer_enable_wait=0; //give some time to release buttons after arming with rc mode to not cancel immediately
@ -596,8 +597,22 @@ void calculateSetSpeed(unsigned long timediff){
rc_steer_enabled=false;
}
float rcsteer=getRCSteer()/1000.0;
cmd_send_toMotor_FL+=rcsteer*differential_steering_max;
cmd_send_toMotor_FR-=rcsteer*differential_steering_max;
float rcyaw=getRCYaw()/1000.0;
cmd_send_toMotor_FL+=rcyaw*differential_yaw_max;
cmd_send_toMotor_FR-=rcyaw*differential_yaw_max;
cmd_send_toMotor_RL+=rcyaw*differential_yaw_max;
cmd_send_toMotor_RR-=rcyaw*differential_yaw_max;
//limit to max values
cmd_send_toMotor_FL=constrain(cmd_send_toMotor_FL,-1000,1000);
cmd_send_toMotor_FR=constrain(cmd_send_toMotor_FR,-1000,1000);
cmd_send_toMotor_RL=constrain(cmd_send_toMotor_RL,-1000,1000);
cmd_send_toMotor_RR=constrain(cmd_send_toMotor_RR,-1000,1000);
}
}else{
rc_steer_enable_wait=RC_STEER_ENABLE_WAITTIME;
@ -779,7 +794,7 @@ void readButtons() {
rc_steer_enabled=false;
if (control_buttonA && control_buttonB) { //button A and B is held down during start button press
uint8_t rcmode=getRCMode(6);
if (getRCThrottle()==0 && getRCBrake()==0) {
if (getRCThrottle()==0 && getRCBrake()==0 && getRCYaw()==0) { //safe to enable rc (controls at zero)
switch (rcmode) {
case 0:
throttle_max=250;