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change tanksteering and add standstill tanksteering

This commit is contained in:
interfisch 2024-07-16 22:34:54 +02:00
parent 24a5a97cfb
commit 64bd6f79f5
1 changed files with 13 additions and 10 deletions
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23
controller_teensy/src/main.cpp
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@ -558,8 +558,8 @@ void calculateSetSpeed(unsigned long timediff){
static float tanksteering_differential=0; //to ramp up slowly. value between -1.0 and 1.0
//Parameters:
int16_t tanksteering_max_speed=200;
float tanksteering_rate_increase=1.0; //increase units per second
float tanksteering_rate_decrease=1.5; //decrease units per second
float tanksteering_rate_increase=2.0; //increase units per second
float tanksteering_rate_decrease=3.0; //decrease units per second
@ -568,7 +568,7 @@ void calculateSetSpeed(unsigned long timediff){
tanksteering_differential=constrain(tanksteering_differential,-1.0,1.0); //constrain between 0 and 1
}else if(control_buttonB && !control_buttonA && !reverse_enabled && throttle_pos>0) { //Left button (B) only. and throttle touched
tanksteering_differential-=tanksteering_rate_increase*(timediff/1000.0);
tanksteering_differential=constrain(tanksteering_differential,-1.0,1.0); //constrain between 0 and 1
tanksteering_differential=constrain(tanksteering_differential,-1.0,1.0); //constrain between 0 and 1
}else{ //buttons released
if(tanksteering_differential>0) {
tanksteering_differential-=tanksteering_rate_decrease*(timediff/1000.0);
@ -586,6 +586,7 @@ void calculateSetSpeed(unsigned long timediff){
// ## Braking, Reversing and Standstill movements below here ##
/*
if (reverse_enabled) { //backwards driving not prohibited
_cmd_send_toMotor-=brake_pos*reverse_speed;
@ -595,9 +596,10 @@ void calculateSetSpeed(unsigned long timediff){
cmd_send_toMotor_RR=_cmd_send_toMotor;
}
*/
/*
float steeringdifferential_speed=0.1; //Speed for turning the steering wheel by differtially driving the front wheels
float steeringdifferential_speed=0.3; //Speed for turning the steering wheel by differtially driving the front wheels
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
if (!reverse_enabled2 && throttle_pos<=0 && brake_pos<=0){
@ -608,15 +610,15 @@ void calculateSetSpeed(unsigned long timediff){
if (control_buttonA && !control_buttonB) { //Right button (A) only
cmd_send_toMotor_FL+=brake_pos*steeringdifferential_speed;
cmd_send_toMotor_FR-=brake_pos*steeringdifferential_speed;
//cmd_send_toMotor_RL-=0;
//cmd_send_toMotor_RR-=0;
cmd_send_toMotor_RL+=brake_pos*steeringdifferential_speed;
cmd_send_toMotor_RR-=brake_pos*steeringdifferential_speed;
reverse_enabled2=false;
}else if(control_buttonB && !control_buttonA) { //Left button (B) only
cmd_send_toMotor_FL-=brake_pos*steeringdifferential_speed;
cmd_send_toMotor_FR+=brake_pos*steeringdifferential_speed;
//cmd_send_toMotor_RL-=0;
//cmd_send_toMotor_RR-=0;
cmd_send_toMotor_RL-=brake_pos*steeringdifferential_speed;
cmd_send_toMotor_RR+=brake_pos*steeringdifferential_speed;
reverse_enabled2=false;
}else if(reverse_enabled2){ //no button on steering wheel pressed, drive backwards
@ -628,7 +630,8 @@ void calculateSetSpeed(unsigned long timediff){
cmd_send_toMotor_RR=_cmd_send_toMotor;
}
}
*/
if (!controllers_connected || !armed) { //controllers not connected or not armed
cmd_send=0;