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faster reverse driving

This commit is contained in:
interfisch 2021-08-06 16:25:43 +02:00
parent 7975ca4c7d
commit 8a57f4b876
1 changed files with 8 additions and 5 deletions
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13
controller_teensy/src/main.cpp
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@ -58,6 +58,9 @@ unsigned long brake_ok_time=0;
bool error_throttle_outofrange=false;
bool error_brake_outofrange=false;
#define REVERSE_ENABLE_TIME 1000 //ms. how long standstill to be able to drive backward
#define REVERSE_SPEED 0.15 //reverse driving speed //0 to 1
#define NORMAL_MAX_ACCELERATION_RATE 10000
#define SLOW_MAX_ACCELERATION_RATE 500
int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send increase per second
@ -433,7 +436,7 @@ void readADC() {
last_notidle=loopmillis;
reverse_enabled=false;
}
#define REVERSE_ENABLE_TIME 1000
if (loopmillis-last_notidle > REVERSE_ENABLE_TIME) {
reverse_enabled=true;
}
@ -566,8 +569,9 @@ void sendCMD() {
int16_t cmd_send_toMotor=constrain(cmd_send* (1.0-(brake_pos*0.5/1000.0) ) ,0,1000); //brake "ducking"
if (reverse_enabled) {
cmd_send_toMotor-=brake_pos*0.1;
cmd_send_toMotor-=brake_pos*REVERSE_SPEED;
}
if (!controllers_connected || !armed) { //controllers not connected or not armed
@ -588,12 +592,11 @@ void sendCMD() {
log_update=true;
//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()
}else if(loopmillis>last_log_send+LOGMININTERVAL){
}/*else if(loopmillis>last_log_send+LOGMININTERVAL){
//Serial.print(throttle_raw); Serial.println();
Serial.print(linearizeThrottle(throttle_raw)); Serial.println();
last_log_send=loopmillis;
}
}*/
}