add driving parameter change via buttons and button display screen toggle

controller_teensy/include/definitions.h

@@ -47,16 +47,27 @@ const uint16_t calib_brake_max = 11000;
 const uint16_t failsafe_brake_min = 4000; //if adc value falls below this failsafe is triggered
 const uint16_t failsafe_brake_max = 14500; //if adc value goes above this failsafe is triggered
 
+const uint16_t calib_control_buttonA=7170; // adc value for button A pressed
+const uint16_t calib_control_buttonB=10402; // adc value for button B pressed
+const uint16_t calib_control_buttonAB=5595; // adc value for button A and B pressed
+const uint16_t calib_control_treshold=100; // from calibration value adc-thres to adc+thres
+const uint16_t calib_control_max=13000; //over which adc value button are both released
+
 uint16_t ads_throttle_A_raw=0;
 uint16_t ads_throttle_B_raw=0;
 uint16_t ads_brake_raw=failsafe_brake_min;
 uint16_t ads_control_raw=0;
 
 
+
+
 int16_t throttle_posA; //scaled and clamped throttle position for sensor A
 int16_t throttle_posB; //scaled and clamped throttle position for sensor B
 int16_t throttle_pos=0; //combined and filtered throttle position
 int16_t brake_pos=0; //filtered throttle position
+bool control_buttonA=false;
+bool control_buttonB=false;
+
 
 unsigned long loopmillis;
 unsigned long looptime_duration;
@@ -80,7 +91,7 @@ bool error_ads_max_read_interval=false;
 bool error_sdfile_unavailable=false;
 
 #define REVERSE_ENABLE_TIME 1000 //ms. how long standstill to be able to drive backward
-#define REVERSE_SPEED 0.25 //reverse driving speed //0 to 1
+
 
 #define NORMAL_MAX_ACCELERATION_RATE 10000
 #define SLOW_MAX_ACCELERATION_RATE 500
@@ -92,6 +103,9 @@ int16_t minimum_constant_cmd_reduce=1; //reduce cmd every loop by this constant
 int16_t brake_cmdreduce_proportional=500; //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=brake_cmdreduce_proportional / second @ full brake. with BREAK_CMDREDUCE_CONSTANT=1000 car would stop with full brake at least after a second (ignoring influence of brake current control/freewheeling)
 float startbrakecurrent=2; //Ampere. "targeted brake current @full brake". at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor
 float startbrakecurrent_offset=0.13; //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
+float freewheel_break_factor=500.0; //speed cmd units per amp per second. 1A over freewheel_current decreases cmd speed by this amount (on average)
+float reverse_speed=0.25; //reverse driving speed //0 to 1
+int16_t throttle_max=1000; //maximum allowed set speed. used for scaling and limiting. [0,1000]
 
 bool reverse_enabled=false;
 unsigned long last_notidle=0; //not rolling to fast, no pedal pressed

controller_teensy/include/display.h

@@ -85,8 +85,11 @@ void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear){
       if (loopmillis-last_notidle>5000) {
         display_standingDisplay(escFront,escRear);
       }else{
-        display_drivingDisplay(escFront,escRear);
+        if (!control_buttonA) {
-        //display_debugDisplay(escFront,escRear);
+          display_drivingDisplay(escFront,escRear);
+        }else{
+          display_debugDisplay(escFront,escRear);
+        }
       }
       
     }else{
@@ -147,7 +150,8 @@ void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
   //## Trip / Current Consumed Display
   display.setCursor(1,SCREEN_HEIGHT-7);
   
-  if (((millis()/2500)%2)==0) {
+  //if (((millis()/2500)%2)==0) {
+  if (control_buttonB) {
     //## Speed statistic
     display.print("max: ");
     dtostrf(max_meanSpeed*3.6,1,0,buf);
@@ -181,7 +185,7 @@ void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
 
 void display_debugDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
   //Debug
-  display.setTextSize(1);             // Normal 1:1 pixel scale
+  display.setTextSize(2);             // Normal 1:1 pixel scale
   display.setFont();
   display.setTextColor(SSD1306_WHITE);        // Draw white text
   char buf[8];
@@ -190,6 +194,32 @@ void display_debugDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
   dtostrf(filtered_currentAll,1,3,buf);
   display.print((String)buf);
   display.print(" A > ");
+  display.println();
+
+
+  //all wheel getCMD
+  
+  display.setTextSize(1);
+  display.setCursor(25,SCREEN_HEIGHT-8*2);
+  display.print(escFront.getCmdL());
+  display.setCursor(SCREEN_WIDTH-4*7-25,SCREEN_HEIGHT-8*2);
+  display.print(escFront.getCmdR());
+  display.setCursor(25,SCREEN_HEIGHT-8*1);
+  display.print(escRear.getCmdL());
+  display.setCursor(SCREEN_WIDTH-4*7-25,SCREEN_HEIGHT-8*1);
+  display.print(escRear.getCmdR());
+  
+  /*
+  display.setTextSize(1);
+  display.setCursor(1,SCREEN_HEIGHT-8*2);
+  display.print("minCMD=");
+  display.print(min(min(min(escFront.getCmdL(),escFront.getCmdR()),escRear.getCmdL()),escRear.getCmdR()));
+
+  display.print(" thrpos=");
+  display.print(throttle_pos);
+  */
+
+  
  
 }
 
@@ -197,55 +227,86 @@ void display_standingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
   double _displaytrip=trip;
   //double _displaycurrent=currentConsumed;
   double _displaywatthours=watthoursConsumed;
-  bool _displayOverall= ((millis()/3000)%2==0);
+  //bool _displayOverall= ((millis()/3000)%2==0); //switch based on time
-  if (_displayOverall) { //alternate between this trip and overall trip
+  bool _displayOverall=control_buttonB; //switch with button
-    _displaytrip=overallTrip;
+  bool _displayParameters=control_buttonA;
-    //_displaycurrent=overallCurrentConsumed;
-    _displaywatthours=overallWatthoursConsumed;
-  }
 
   char buf[8];
+
   display.setFont();
   display.setCursor(0,0);
 
-  display.print(F("Vbat:")); display.print(escFront.getFeedback_batVoltage());
+  if (_displayParameters) {
-  display.print(F("/")); display.print(escRear.getFeedback_batVoltage());
-  display.print(" V");
-  display.println();
     
-  //display.print(F("Temp:")); display.print(escFront.getFeedback_boardTemp());
+    display.print(F("cmdred min=")); display.print(minimum_constant_cmd_reduce);
-  //display.print(F("/")); display.print(escRear.getFeedback_boardTemp());
+    display.print(F(" p=")); display.print(brake_cmdreduce_proportional);
-  display.print(F("T:")); display.print(temp_ESCFront,0);
+    display.println();
-  display.print(F("/")); display.print(temp_ESCRear,0);
-  display.print(F("/")); display.print(temp_Air,0);
-  display.print(" C");
-  display.println();
 
-  display.print(F("Trip:"));
-  dtostrf(_displaytrip,1,0,buf);
-  display.print((String)buf);
-  display.print("m ");
-  //dtostrf(_displaycurrent,1,2,buf);
-  dtostrf(_displaywatthours,1,2,buf);
-  display.print((String)buf);
-  //display.print(" Ah");
-  display.print("Wh");
-  display.println();
 
-  display.print(F(""));
+    display.print(F("brkI="));
-  //dtostrf( _displaytrip/1000/_displaycurrent ,1,2,buf);
+    dtostrf(startbrakecurrent,1,1,buf);
-  dtostrf( _displaywatthours/_displaytrip*100,1,2,buf);
+    display.print((String)buf);
-  display.print((String)buf);
+    display.print("A");
-  //display.print(" km/Ah");
+    display.print(F(" free="));
-  display.print(" kWh/100km");
+    dtostrf(freewheel_break_factor,1,1,buf);
+    display.print((String)buf);
+    display.println();
+
+    display.print(F("thrmax=")); display.print(throttle_max);
+    display.print(F(" rev="));
+    dtostrf(reverse_speed,1,2,buf);
+    display.print((String)buf);
+    display.println();
+    
+  }else{
+      
+
+    if (_displayOverall) { //alternate between this trip and overall trip
+      _displaytrip=overallTrip;
+      //_displaycurrent=overallCurrentConsumed;
+      _displaywatthours=overallWatthoursConsumed;
+    }
+
+    display.print(F("Vbat:")); display.print(escFront.getFeedback_batVoltage());
+    display.print(F("/")); display.print(escRear.getFeedback_batVoltage());
+    display.print(" V");
+    display.println();
+
+    //display.print(F("Temp:")); display.print(escFront.getFeedback_boardTemp());
+    //display.print(F("/")); display.print(escRear.getFeedback_boardTemp());
+    display.print(F("T:")); display.print(temp_ESCFront,0);
+    display.print(F("/")); display.print(temp_ESCRear,0);
+    display.print(F("/")); display.print(temp_Air,0);
+    display.print(" C");
+    display.println();
+
+    display.print(F("Trip:"));
+    dtostrf(_displaytrip,1,0,buf);
+    display.print((String)buf);
+    display.print("m ");
+    //dtostrf(_displaycurrent,1,2,buf);
+    dtostrf(_displaywatthours,1,2,buf);
+    display.print((String)buf);
+    //display.print(" Ah");
+    display.print("Wh");
+    display.println();
+
+    display.print(F(""));
+    //dtostrf( _displaytrip/1000/_displaycurrent ,1,2,buf);
+    dtostrf( _displaywatthours/_displaytrip*100,1,2,buf);
+    display.print((String)buf);
+    //display.print(" km/Ah");
+    display.print(" kWh/100km");
+
+    if (_displayOverall){
+      display.print(" sum");
+    }
+
+
+    display.println();
 
-  if (_displayOverall){
-    display.print(" sum");
   }
 
-
-  display.println();
-
 }
 
 
@@ -280,6 +341,18 @@ void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& esc
   dtostrf(ads_brake_raw,1,0,buf);
   display.print((String)buf);  
   
+  /*display.print(" c=");
+  dtostrf(ads_control_raw,1,0,buf);
+  display.print((String)buf);  */
+
+  if (control_buttonA){
+    display.print(" A");
+  }
+  if (control_buttonB){
+    display.print(" B");
+  }
+
+
 }
 
 #endif

controller_teensy/src/main.cpp

@@ -58,6 +58,7 @@ void checkLog();
 void leds();
 
 void readButtons();
+void readADSButtons();
 
 uint16_t linearizeThrottle(uint16_t v, const uint16_t *pthrottleCurvePerMM, int arraysize,bool sorteddescending);
 
@@ -245,6 +246,7 @@ void loop() {
   if (loopmillis - last_buttonread > BUTTONREADPERIOD) { //read digital input states
     last_buttonread=loopmillis;
     readButtons();
+    readADSButtons();
   }
 
 
@@ -396,7 +398,7 @@ void readADS() { //sequentially read ads and write to variable
     case 2: //Brake
       ads_brake_raw=ads_val;
       break;
-    case 3: //Buttons TODO
+    case 3: //Buttons
       ads_control_raw=ads_val;
       break;
   }
@@ -455,6 +457,9 @@ void readADC() {
   throttle_pos=constrain(throttlebreak_pos,0,1000);
   brake_pos=constrain(-throttlebreak_pos/2,0,1000); //rescale brake value from throttlebreak_pos
 
+  //throttlemax=750 - cmd ist aber 543
+  //throttlemax=250 - cmd ist aber 117
+
   //Serial.print(throttle_raw); Serial.print(", "); Serial.print(brake_raw); Serial.print(", ");
   //Serial.print(throttle_pos); Serial.print(", "); Serial.print(brake_pos); Serial.println();
 
@@ -571,6 +576,8 @@ void failChecks() {
 
 void calculateSetSpeed(unsigned long timediff){
 
+  int16_t adjusted_throttle_pos=constrain(throttle_pos*(throttle_max/1000.0),0,throttle_max);
+
   int16_t brake_pos_expo = (int16_t)(pow((brake_pos/1000.0),2)*1000);
 
   float brakepedal_current_multiplier=startbrakecurrent/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000)
@@ -578,8 +585,6 @@ void calculateSetSpeed(unsigned long timediff){
   int16_t cmdreduce_constant=map(brake_pos_expo,0,1000,0,(int16_t)(brake_cmdreduce_proportional*timediff/1000)); //reduce cmd value every cycle
 
   float freewheel_current=startbrakecurrent_offset-brake_pos_expo*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=500.0; //speed cmd units per amp per second. 1A over freewheel_current decreases cmd speed by this amount (on average)
-  
    
   
   float filtered_currentFront=max(escFront.getFiltered_curL(),escFront.getFiltered_curR());
@@ -588,7 +593,7 @@ void calculateSetSpeed(unsigned long timediff){
   filtered_currentAll=filtered_currentFront+filtered_currentRear; //positive value is current Drawn from battery. negative value is braking current
   
 
-  if(throttle_pos<last_cmd_send){ //freewheeling or braking
+  if(adjusted_throttle_pos<last_cmd_send){ //freewheeling or braking
     if (filtered_currentAll>freewheel_current) { //drive current too high
       cmd_send-= max(0, (filtered_currentAll-freewheel_current)*freewheel_break_factor*(timediff/1000.0)); //how much current over freewheel current, multiplied by factor. reduces cmd_send value
     }
@@ -597,17 +602,17 @@ void calculateSetSpeed(unsigned long timediff){
   }
 
   //acceleration
-  cmd_send += constrain(throttle_pos-cmd_send,0,(int16_t)(max_acceleration_rate*(timediff/1000.0)) ); //if throttle higher than last applied value, apply throttle directly
+  cmd_send += constrain(adjusted_throttle_pos-cmd_send,0,(int16_t)(max_acceleration_rate*(timediff/1000.0)) ); //if throttle higher than last applied value, apply throttle directly
 
-  cmd_send=constrain(cmd_send,0,1000);
+  cmd_send=constrain(cmd_send,0,throttle_max);
 
   last_cmd_send=cmd_send;
 
-  int16_t cmd_send_toMotor=constrain(cmd_send*  (1.0-(brake_pos*0.5/1000.0) ) ,0,1000); //brake "ducking"
+  int16_t cmd_send_toMotor=constrain(cmd_send*  (1.0-(brake_pos*0.5/1000.0) ) ,0,throttle_max); //brake "ducking"
 
   
   if (reverse_enabled) {
-    cmd_send_toMotor-=brake_pos*REVERSE_SPEED;
+    cmd_send_toMotor-=brake_pos*reverse_speed;
   }
 
   if (!controllers_connected || !armed) { //controllers not connected or not armed
@@ -777,6 +782,17 @@ void readButtons() {
     if (escFront.getControllerConnected() && escRear.getControllerConnected()) {
       armed=true; //arm if button pressed long enough
       writeLogComment(loopmillis, "Armed by button");
+      if (control_buttonA) { //button A is held down during start button press
+        throttle_max=1000;
+        reverse_speed=0.25;
+      }else if (control_buttonB) { //button B is held down during start button press
+        throttle_max=750;
+        reverse_speed=0.25;
+      }else { //no control button pressed during start
+        throttle_max=250;
+        reverse_speed=0.15;
+      }
+
     }else{
       writeLogComment(loopmillis, "Unable to arm");
     }
@@ -785,6 +801,32 @@ void readButtons() {
 
 }
 
+void readADSButtons() {
+  bool last_control_buttonA=control_buttonA;
+  bool last_control_buttonB=control_buttonB;
+  if ( (ads_control_raw > (calib_control_buttonA-calib_control_treshold)) && (ads_control_raw < (calib_control_buttonA+calib_control_treshold) ) ) {
+    control_buttonA=true;
+    control_buttonB=false;
+  }else if ( (ads_control_raw > (calib_control_buttonB-calib_control_treshold)) && (ads_control_raw < (calib_control_buttonB+calib_control_treshold) ) ) {
+    control_buttonA=false;
+    control_buttonB=true;
+  }else if ( (ads_control_raw > (calib_control_buttonAB-calib_control_treshold)) && (ads_control_raw < (calib_control_buttonAB+calib_control_treshold) ) ) {
+    control_buttonA=true;
+    control_buttonB=true;
+  }else if ( ads_control_raw > calib_control_max){
+    control_buttonA=false;
+    control_buttonB=false;
+  }
+
+  if (control_buttonA && !last_control_buttonA) { //button A was just pressed
+    writeLogComment(loopmillis, "Button A Pressed");
+  }
+
+  if (control_buttonB && !last_control_buttonB) { //button B was just pressed
+    writeLogComment(loopmillis, "Button B Pressed");    
+  }
+}
+
 
 uint16_t linearizeThrottle(uint16_t v, const uint16_t *pthrottleCurvePerMM, int arraysize,bool sorteddescending) {
   //input is raw adc value from hall sensor