fix div 0 when expected size is 0. fix expected size 0 reading

optimize rc control
add schematic pdf
2025-04-10 19:24:25 +02:00 · 2024-09-22 19:03:46 +02:00 · 2024-09-21 23:24:29 +02:00 · 2024-09-21 22:51:53 +02:00 · 2024-09-21 22:10:51 +02:00 · 2024-08-27 08:13:17 +02:00
27 changed files with 76410 additions and 48368 deletions
--- a/.gitignore
+++ b/.gitignore
@ -0,0 +1,3 @@
+logdata_visualization/logs/*
+*.sync-conflict*
+*.FCStd1
--- a/Bobbycar_wiring/20240628_Bobbycar_wiring.pdf
+++ b/Bobbycar_wiring/20240628_Bobbycar_wiring.pdf
--- a/Bobbycar_wiring/Bobbycar_wiring.kicad_pcb
+++ b/Bobbycar_wiring/Bobbycar_wiring.kicad_pcb
--- a/Bobbycar_wiring/Bobbycar_wiring.kicad_sch
+++ b/Bobbycar_wiring/Bobbycar_wiring.kicad_sch
--- a/Bobbycar_wiring/steering_wheel_wiring.kicad_sch
+++ b/Bobbycar_wiring/steering_wheel_wiring.kicad_sch
--- a/cad/20240713_Tankdeckel_deckel_federplatte.step
+++ b/cad/20240713_Tankdeckel_deckel_federplatte.step
--- a/cad/20240720_lenkrad_throttle-endcap.step
+++ b/cad/20240720_lenkrad_throttle-endcap.step
@ -0,0 +1,353 @@
+ISO-10303-21;
+HEADER;
+FILE_DESCRIPTION(('FreeCAD Model'),'2;1');
+FILE_NAME('Open CASCADE Shape Model','2024-07-20T11:24:02',('Author'),(
+    ''),'Open CASCADE STEP processor 7.7','FreeCAD','Unknown');
+FILE_SCHEMA(('AUTOMOTIVE_DESIGN { 1 0 10303 214 1 1 1 1 }'));
+ENDSEC;
+DATA;
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+#2 = APPLICATION_CONTEXT(
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--- a/cad/20240720_lenkrad_throttle-leverclip.step
+++ b/cad/20240720_lenkrad_throttle-leverclip.step
--- a/cad/20240720_lenkrad_throttle.FCStd
+++ b/cad/20240720_lenkrad_throttle.FCStd
--- a/cad/Tankdeckel_LEDring.FCStd
+++ b/cad/Tankdeckel_LEDring.FCStd
--- a/cad/teensy40_sdcard_cover-clipbody.step
+++ b/cad/teensy40_sdcard_cover-clipbody.step
@ -0,0 +1,618 @@
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+  9.803921802644E-02);
+ENDSEC;
+END-ISO-10303-21;
--- a/cad/teensy40_sdcard_cover.FCStd
+++ b/cad/teensy40_sdcard_cover.FCStd
--- a/controller_teensy/.vscode/c_cpp_properties.json
+++ b/controller_teensy/.vscode/c_cpp_properties.json
@ -14,6 +14,7 @@
                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SdFat/src",
                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Time",
                "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/lib/hoverboard-esc-serial-comm/src",
+                "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/PulsePosition",
                "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/DallasTemperature",
                "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/OneWire",
                "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/VirtualWire",
@ -129,6 +130,7 @@
                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/SdFat/src",
                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/Time",
                    "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/lib/hoverboard-esc-serial-comm/src",
+                    "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/PulsePosition",
                    "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/DallasTemperature",
                    "/media/fisch/HDD/Projects/bobbycar/bobbycar_repo/controller_teensy/.pio/libdeps/teensy41/OneWire",
                    "/home/fisch/.platformio/packages/framework-arduinoteensy/libraries/VirtualWire",
--- a/controller_teensy/.vscode/settings.json
+++ b/controller_teensy/.vscode/settings.json
@ -1,3 +1,48 @@
 {
-    "cmake.configureOnOpen": false
+    "cmake.configureOnOpen": false,
+    "files.associations": {
+        "algorithm": "cpp",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "random": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "initializer_list": "cpp",
+        "iosfwd": "cpp",
+        "limits": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "cinttypes": "cpp",
+        "typeinfo": "cpp"
+    }
 }
--- a/controller_teensy/README.md
+++ b/controller_teensy/README.md
@ -0,0 +1,78 @@
+# Bobbycar Controller
+
+## Serial Commands
+
+If Vusb jumper on PCB is soldered, do not connect USB while LiPo is connected!
+
+**echo off**
+
+Turn off serial command echo.
+Useful for automated transfer.
+
+**echo on**
+
+Turns on serial command echo.
+Useful for manual command execution.
+
+**test**
+
+Returns "OK"
+
+**ls**
+
+List files on SD card in a machine readable way.
+One file per line with full path.
+
+**la -a**
+
+List files tab formatted. With file sizes.
+
+
+**cat FILENAME**
+
+Print out the contents of a specified file.
+
+If no filename given, the current active logfile is used.
+
+**get FILENAME**
+
+Sends the contents of a specified file in chunks.
+Waits for the checksum of the send chunks before sending the next chunk.
+Exits with an error message when checksum does not match.
+Used for automated transfer of files.
+
+**sizeof FILENAME**
+
+Returns the size in bytes of the specified file.
+
+**chunksize SIZE**
+
+Sets the size of chunks for file transmission. See **get** command.
+Default is 128.
+
+**rm FILENAME**
+
+Deletes file from sd card.
+
+**log off**
+
+Turns off logging flag.
+
+**log on**
+
+Turns on logging flag.
+
+**show stats**
+
+Prints some current stats values.
+One variable per line.
+
+Format: parametername\<Tab\>value
+
+**show sensors**
+
+Prints some sensor values that are useful in standstill.
+One variable per line.
+
+Format: parametername\<Tab\>value
+
--- a/controller_teensy/include/definitions.h
+++ b/controller_teensy/include/definitions.h
@ -29,17 +29,25 @@ bool controllers_connected=false;

 //const uint16_t calib_throttle_min = 420; //better a bit too high than too low
 //const uint16_t calib_throttle_max = 790;
+/*
 const uint16_t failsafe_throttle_min_A = 4900; //if adc value falls below this failsafe is triggered.
 const uint16_t failsafe_throttle_max_A = 14500; //if adc value goes above this failsafe is triggered.
 const uint16_t failsafe_throttle_min_B = 3900; //if adc value falls below this failsafe is triggered.
 const uint16_t failsafe_throttle_max_B = 12500; //if adc value goes above this failsafe is triggered.
-const uint16_t failsafe_throttle_maxDiff = 200;//maximum adc value difference between both sensors A and B. value range 0-1000. choose value at least 2x higher than maximum difference when moving throttle slowly
-//const uint16_t throttleCurvePerMM[] = {414,460,490,511,527,539,548,555,561,567,573,578,584,590,599,611,630,657,697,754,789,795}; //adc values for every unit (mm) of linear travel
-//const uint16_t throttleCurvePerMM[] = {8485,8904,9177,9368,9513,9623,9705,9768,9823,9877,9932,9978,10032,10087,10169,10278,10451,10697,11061,11579,11898,11952}; //adc values for every unit (mm) of linear travel. config used until 20230826
+*/
+
+const uint16_t failsafe_throttle_min_A = 3000; //if adc value falls below this failsafe is triggered.
+const uint16_t failsafe_throttle_max_A = 13000; //if adc value goes above this failsafe is triggered.
+const uint16_t failsafe_throttle_min_B = 5000; //if adc value falls below this failsafe is triggered.
+const uint16_t failsafe_throttle_max_B = 14500; //if adc value goes above this failsafe is triggered.
+
+const uint16_t failsafe_throttle_maxDiff = 200;//maximum throttle pos value difference between both sensors A and B (after linearization). value range 0-1000. choose value at least 2x higher than maximum difference when moving throttle slowly
+
+//Throttle Calibration: First value pair should be 1-2mm pressed down (start of throttle=1). Last value pair should be a bit before fully pressed. all values in between need to be equidistant (for example every 1mm). Use define CALIBRATION_THROTTLE_CURVE for easy calibration output
+const uint16_t throttleCurvePerMM_A[] = {9996,9718,9507,9357,9232,9162,9071,8958,8838,8703,8577,8396,8192,7845,7407,6800,5923}; //adc values for every unit (mm) of linear travel
+const uint16_t throttleCurvePerMM_B[] = {7698,7948,8133,8277,8403,8503,8588,8695,8791,8899,9034,9196,9400,9711,10110,10657,1146}; //adc values for every unit (mm) of linear travel

-const uint16_t throttleCurvePerMM_A[] = {11800,11130,10300,9990,9650,9470,9370,9240,9130,9030,8950,8850,8700,8560,8350,8040,7750,7150,6520}; //adc values for every unit (mm) of linear travel
 const bool throttleCurvePerMM_A_Descending=true; //set true if corresponding array is descending
-const uint16_t throttleCurvePerMM_B[] = {6200,6700,7420,7710,8030,8200,8310,8440,8560,8640,8740,8840,8990,9130,9330,9630,9900,10440,10990}; //adc values for every unit (mm) of linear travel
 const bool throttleCurvePerMM_B_Descending=false; //set true if corresponding array is descending

 const uint16_t calib_brake_min = 7000; //better a bit too high than too low 
@ -59,28 +67,25 @@ 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
+int16_t brake_pos=0; //filtered and constrained throttle position
 bool control_buttonA=false;
 bool control_buttonB=false;


 unsigned long loopmillis;
-unsigned long looptime_duration;
+unsigned long looptime_duration_min;
+unsigned long looptime_duration_max;


 #define ADSREADPERIOD 3 //set slightly higher as actual read time to avoid unnecessary register query
 #define ADCREADPERIOD 10
 #define BUTTONREADPERIOD 20
 unsigned long last_adsread=0; //needed for failcheck
-uint16_t throttle_rawA=failsafe_throttle_min_A;  //start at min so that failsafe is not triggered
-uint16_t throttle_rawB=failsafe_throttle_min_B;  //start at min so that failsafe is not triggered
 #define THROTTLE_ADC_FILTER 0.4 //higher value = faster response
-uint16_t brake_raw=failsafe_brake_min;  //start at min so that failsafe is not triggered
+int16_t brake_linear=0;  //linearized bake position
 #define ADC_OUTOFRANGE_TIME 100 //for failsafe_throttle_min_X. how long values need to stay bad to trigger failsafe
 #define ADC_DIFFHIGH_TIME 500 //for failsafe_throttle_maxDiff. how long values need to stay bad to trigger failsafe

@ -90,20 +95,21 @@ bool error_brake_outofrange=false;
 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_ENABLE_TIME 300 //ms. how long standstill to be able to drive backward


 #define NORMAL_MAX_ACCELERATION_RATE 10000
-#define SLOW_MAX_ACCELERATION_RATE 500
+#define MEDIUM_MAX_ACCELERATION_RATE 500
+#define SLOW_MAX_ACCELERATION_RATE 250
 int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send increase per second


 //Driving parameters
 int16_t minimum_constant_cmd_reduce=1; //reduce cmd every loop by this constant amount when freewheeling/braking
 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=2.0; //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 freewheel_break_factor=200.0; //speed cmd units per amp per second. 1A over freewheel_current decreases cmd speed by this amount (on average). Was 500 until 20240809
 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]

@ -131,6 +137,8 @@ float max_filtered_wattAll;
 float min_filtered_wattAll;
 float max_meanSpeed;

+float min_voltage;
+
 float minSpeedms; //speed in m/s of slowest wheel
 double overallTrip; //m. trip with read distance from sd card
 double trip; //m. trip distance since boot
--- a/controller_teensy/include/display.h
+++ b/controller_teensy/include/display.h
@ -15,7 +15,12 @@
 #define SCREEN_ADDRESS 0x3C ///< See datasheet for Address; 0x3D for 128x64, 0x3C for 128x32
 Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);

+uint8_t standingDisplayScreen=0;
+#define NUM_STANDINGDISPLAYSCREEN 5

+#define DISPLAYSTANDSTILLTIME 5000
+
+#include "rc.h"

 bool display_init();
 void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear);
@ -81,17 +86,14 @@ void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear){
    display.print(errorstring);

  }else{
-    //Normal Display Routinges here
+    //Normal Display Routines here
    
    if (armed) {
-      if (loopmillis-last_notidle>5000) {
+      if (loopmillis-last_notidle>DISPLAYSTANDSTILLTIME) {
        display_standingDisplay(escFront,escRear);
      }else{
-        if (!control_buttonA) {
-          display_drivingDisplay(escFront,escRear);
-        }else{
-          display_debugDisplay(escFront,escRear);
-        }
+        display_drivingDisplay(escFront,escRear);
+        //display_debugDisplay(escFront,escRear);        
      }
      
    }else{
@ -108,13 +110,16 @@ void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear){


 void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
-  
+  //Display stuff here for when bobbycar is moving or was moving recently and is armed
+
+
  //## Km/h Display
  display.setFont(&FreeMonoBold18pt7b);
  display.setTextSize(1);             // Normal 1:1 pixel scale
  display.setTextColor(SSD1306_WHITE);        // Draw white text
  display.setCursor(0,SCREEN_HEIGHT-(SCREEN_HEIGHT-18)/2 - 3);             // Start at top-left corner

+
  //float _speeddisplay=(escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0*3.6;
  float _speeddisplay=minSpeedms*3.6;
  
@ -132,6 +137,17 @@ void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
  display.setCursor(SCREEN_WIDTH-25,SCREEN_HEIGHT-16);
  display.print("km/h");

+#ifdef RC
+  display.setCursor(0,0);
+  if (rc_fullcontrol_enabled) {
+    display.print("RC Fullcontrol");
+  }else if(rc_steer_enabled){
+    display.print("RC Steering");
+  }
+  
+  
+#endif
+
  //A
  display.setCursor(SCREEN_WIDTH-37,1);
  static float averaged_filtered_currentAll;
@ -151,40 +167,36 @@ void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
  
  //## Trip / Current Consumed Display
  display.setCursor(1,SCREEN_HEIGHT-7);
-  
-  //if (((millis()/2500)%2)==0) {
-  if (control_buttonB) {
-    //## Speed statistic
-    display.print("max: ");
-    dtostrf(max_meanSpeed*3.6,1,0,buf);
-    display.print((String)buf);
-    display.print("km/h");
-  }else{
-    //## Current Consumed    
-    /*
-    dtostrf(min_filtered_currentAll,1,1,buf);
-    display.print("min:");
-    display.print((String)buf);
-    display.print("A max:");

-    dtostrf(max_filtered_currentAll,1,1,buf);
-    display.print((String)buf);
-    display.print("A");
-    */
-    //## Watt Hours Consumed
-    dtostrf(min_filtered_wattAll,1,0,buf);
-    display.print("min:");
-    display.print((String)buf);
-    display.print("W max:");
+  //## Current    
+  /*
+  dtostrf(min_filtered_currentAll,1,1,buf);
+  display.print("min:");
+  display.print((String)buf);
+  display.print("A max:");

-    dtostrf(max_filtered_wattAll,1,0,buf);
-    display.print((String)buf);
-    display.print("W");
-  }
-  
+  dtostrf(max_filtered_currentAll,1,1,buf);
+  display.print((String)buf);
+  display.print("A");
+  */
+
+  //## Watt
+  dtostrf(min_filtered_wattAll,1,0,buf);
+  display.print((String)buf);
+  display.print(" / ");
+
+  dtostrf(max_filtered_wattAll,1,0,buf);
+  display.print((String)buf);
+  display.print("W ");
+
+  display.setCursor(SCREEN_WIDTH-6*6,SCREEN_HEIGHT-7);
+  dtostrf(max_meanSpeed*3.6,1,0,buf);
+  display.print((String)buf);
+  display.print("km/h");

 }

+
 void display_debugDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
  //Debug
  display.setTextSize(2);             // Normal 1:1 pixel scale
@ -220,30 +232,172 @@ void display_debugDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
  display.print(" thrpos=");
  display.print(throttle_pos);
  */
-
-  
- 
 }

+
 void display_standingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
+  //Display stuff here when ESCs are powered on and bobbycar is armed but was not moving for a while
+
  double _displaytrip=trip;
  //double _displaycurrent=currentConsumed;
  double _displaywatthours=watthoursConsumed;
-  //bool _displayOverall= ((millis()/3000)%2==0); //switch based on time
-  bool _displayOverall=control_buttonB; //switch with button
-  bool _displayParameters=control_buttonA;
+  bool _displayOverall= ((millis()/2500)%2==0); //switch based on time
+  
+  
+  

  char buf[8];

  display.setFont();
  display.setCursor(0,0);

-  if (_displayParameters) {
    
+
+  if (_displayOverall) { //alternate between this trip and overall trip
+    _displaytrip=overallTrip;
+    //_displaycurrent=overallCurrentConsumed;
+    _displaywatthours=overallWatthoursConsumed;
+  }
+
+
+  //Row 1
+  if (!_displayOverall) {
+    display.print(F("Vbat:")); display.print(escFront.getFeedback_batVoltage());
+    display.print(F("/")); display.print(escRear.getFeedback_batVoltage());
+  }else{
+    display.print(F("Vmin:")); display.print(min_voltage);
+  }
+  display.print(" V");
+  display.println();
+  
+
+
+  //Row 2
+  //display.print(F("Temp:")); display.print(escFront.getFeedback_boardTemp());
+  //display.print(F("/")); display.print(escRear.getFeedback_boardTemp());
+  display.print(F("T:")); display.print(temp_Front,0);
+  display.print(F("/")); display.print(temp_Rear,0);
+  display.print(F("/")); display.print(temp_Air,0);
+  display.print(" C");
+  display.println();
+
+  //Row 3
+  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();
+
+  //Row 4
+
+  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();
+
+
+
+}
+
+
+void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
+  //Displayed stuff here when escs are powered off / disconnected or bobbycar is not armed
+  char buf[8];
+  display.setFont();
+  display.setCursor(0,0);
+
+  
+
+  switch(standingDisplayScreen) 
+  {
+  case 0:
+    //Quick overview of inputs and status
+
+    //Row1
+    if (getDatalogging()) {
+      display.print(getLogFilename());
+    }else{
+      display.print("LOG DISABLED");
+    }
+      
+    display.print(F(" ")); display.print(loopmillis/1000);
+    display.print(F("s"));
+    display.println();
+
+    //Row2
+
+    display.print(F("Throttle "));
+    dtostrf((throttle_posA+throttle_posB)/2.0,4,0,buf);
+    display.print((String)buf);
+    display.print(F(" ("));
+    if (throttle_posA>throttle_posB) { //use values acutally taken for diff check
+      display.print(F("+")); //add + for better formatting
+    }
+    dtostrf((throttle_posA-throttle_posB),1,0,buf);
+    display.print((String)buf);
+    display.print(F(")"));
+    display.println();
+
+    //Row3
+
+    display.print("Brake ");
+    dtostrf(brake_linear,4,0,buf); //use only linearized values (not constrained)
+    display.print((String)buf);  
+
+    display.setCursor(8*10,2*8);
+    dtostrf((escFront.getFeedback_batVoltage()+escRear.getFeedback_batVoltage())/2.0,1,1,buf);
+    display.print((String)buf);  
+    display.print(F("V"));
+    display.println();
+
+    
+
+    
+    /*display.print(" c=");
+    dtostrf(ads_control_raw,1,0,buf);
+    display.print((String)buf);  */
+
+
+    break;
+
+  case 1:
+    //Trip Stats (trip / overall)
+
+    //Row 1
+    display.print(F("Trip ")); display.print(trip,0); display.print(F(" / ")); display.print(overallTrip,0); display.print(F("m"));
+    display.println();
+    //Row 2
+    display.print(F("Curr ")); display.print(currentConsumed*1000,0); display.print(F(" / "));  display.print(overallCurrentConsumed*1000,0); display.print(F("mAh"));
+    display.println();
+    //Row 3
+    display.print(F("Pow ")); display.print(watthoursConsumed,0); display.print(F(" / "));  display.print(overallWatthoursConsumed,0); display.print(F("Wh"));
+    display.println();
+
+    break;
+
+  case 2:
+    //Configuration parameters
+
+    //Row 1
    display.print(F("cmdred min=")); display.print(minimum_constant_cmd_reduce);
    display.print(F(" p=")); display.print(brake_cmdreduce_proportional);
    display.println();

+    //Row 2

    display.print(F("brkI="));
    dtostrf(startbrakecurrent,1,1,buf);
@ -254,105 +408,127 @@ void display_standingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
    display.print((String)buf);
    display.println();

+    //Row 3
+
    display.print(F("thrmax=")); display.print(throttle_max);
    display.print(F(" rev="));
    dtostrf(reverse_speed,1,2,buf);
    display.print((String)buf);
    display.println();
+
+    break;
+
+  case 3:
+    //Raw inputs and Input Debug
+
+    //TODO: show deviation (and max deviation), show resulting throttle and brake pos
    
-  }else{
-      

-    if (_displayOverall) { //alternate between this trip and overall trip
-      _displaytrip=overallTrip;
-      //_displaycurrent=overallCurrentConsumed;
-      _displaywatthours=overallWatthoursConsumed;
+    //Row1
+
+    display.print(F("Throttle "));
+    dtostrf(ads_throttle_A_raw,1,0,buf);
+    display.print((String)buf);
+    display.print(F("/"));
+    dtostrf(ads_throttle_B_raw,1,0,buf);
+    display.print((String)buf);
+    display.println();
+
+    //Row2
+    static int16_t _throttle_maxdiff = 0;
+    if (control_buttonA || control_buttonB) { //any button press
+      _throttle_maxdiff=0; //reset maxdiff for this display
    }
-
-    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);
+    _throttle_maxdiff=max(_throttle_maxdiff,abs(throttle_posA-throttle_posB));
+    display.print(F("Thr.maxdiff "));
+    dtostrf(_throttle_maxdiff,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");
-    }
-
+    //Row3

+    display.print("Brake ");
+    dtostrf(ads_brake_raw,1,0,buf);
+    display.print((String)buf);  
    display.println();

+    
+    break;
+
+
+  case 4:
+    //Row 1
+    display.print(F("RC "));
+    dtostrf(ppm[0],4,0,buf);
+    display.print((String)buf);
+    display.print(F("/"));
+    dtostrf(ppm[1],4,0,buf);
+    display.print((String)buf);
+    display.println();
+
+    //Row 2
+    
+    display.print(F("T"));
+    dtostrf(getRCThrottle(),3,0,buf);
+    display.print((String)buf);
+    display.print(F(" B"));
+    dtostrf(getRCBrake(),3,0,buf);
+    display.print((String)buf);
+    display.print(F(" S"));
+    dtostrf(getRCSteer(),3,0,buf);
+    display.print((String)buf);
+    
+    display.println();
+
+    //Row 3
+    display.print(F("Mode="));
+    dtostrf(getRCMode(6),1,0,buf);
+    display.print((String)buf);
+    display.print(F(" %="));
+    dtostrf(getPPMSuccessrate(),1,5,buf);
+    display.print((String)buf);
+    display.println();
+
+    break;
+
  }

-}
-
-
-void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
-  //Displayed stuff here when escs are powered off / disconnected
-  char buf[8];
-  display.setFont();
-  display.setCursor(0,0);
-
-  display.print(getLogFilename());
-    
-  display.print(F(" ")); display.print(loopmillis/1000);
-  display.print(F("s"));
-  display.println();
-
-  display.print(F("ESC F="));
-  display.print(escFront.getControllerConnected());
-  display.print(F(" R="));
-  display.print(escRear.getControllerConnected());
-  display.println();
-
-
-  display.print("throttle=");
-  dtostrf(ads_throttle_A_raw,1,0,buf);
-  display.print((String)buf);
-  display.print("/");
-  dtostrf(ads_throttle_B_raw,1,0,buf);
-  display.print((String)buf);
-  display.println();
-
-  display.print("brake=");
-  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");
+  //Put User Inputs in last row
+  //Row 4
+  display.setCursor(0,24);
+  if (button_start_state){
+    display.print("S");
+  }else{
+    display.print(" ");
  }
  if (control_buttonB){
-    display.print(" B");
+    display.print("B");
+  }else{
+    display.print(" ");
  }
+  if (control_buttonA){
+    display.print("A");
+  }else{
+    display.print(" ");
+  }
+
+  if (escFront.getControllerConnected()){
+    display.print("F");
+  }else{
+    display.print(" ");
+  }
+  if (escRear.getControllerConnected()){
+    display.print("R");
+  }else{
+    display.print(" ");
+  }
+
+  display.setCursor(SCREEN_WIDTH-6*3,24);
+  display.print(standingDisplayScreen);
+  display.print("/"); display.print(NUM_STANDINGDISPLAYSCREEN-1);
+
+  
+  


 }
--- a/controller_teensy/include/led.h
+++ b/controller_teensy/include/led.h
@ -17,7 +17,7 @@
 #include <Adafruit_NeoPixel.h>


-#define LED_PIN 3
+#define LED_PIN 20
 #define LED_COUNT  16

 // NeoPixel brightness, 0 (min) to 255 (max)
@ -31,6 +31,9 @@ unsigned long last_ledupdate=0;

 uint8_t led_errorcount=0; //count led progress errors. used for delay at end if any errors occured

+extern bool rc_fullcontrol_enabled; //from rc.h
+extern bool rc_steer_enabled;
+
 void led_dotcircle(unsigned long loopmillis);
 void led_gauge(unsigned long loopmillis,float value,float value_min,float value_max,uint32_t colorGauge,uint32_t colorBG);

@ -109,18 +112,22 @@ void led_update(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm&
        }else{
                    
            if (armed) {
-                if (loopmillis-last_notidle>5000) {
-                    //Standing           
-                    float vbat=min(escRear.getFeedback_batVoltage(),escFront.getFeedback_batVoltage());     
-                    led_gauge(loopmillis,vbat,3*12,4.2*12,strip.Color(0,  255,   0, 0),strip.Color(100,  0,   0, 0));
-                }else{
-                    //Driving
-                    float currentMean=escRear.getFiltered_curL()+escRear.getFiltered_curR()+escFront.getFiltered_curL()+escFront.getFiltered_curR();
-                    uint32_t _bgColor=strip.Color(0,  0,   20, 0);
-                    if (reverse_enabled) {
-                        _bgColor=strip.Color(20,  0,   20, 0);
+                if (rc_fullcontrol_enabled || rc_steer_enabled) {
+                    led_gauge(loopmillis,escFront.getCmdL(),0,1000,strip.Color(100,  0,   0, 0),strip.Color(0,  50,   50, 0));
+                }else{ //normal driving
+                    if (loopmillis-last_notidle>5000) {
+                        //Standing           
+                        float vbat=min(escRear.getFeedback_batVoltage(),escFront.getFeedback_batVoltage());     
+                        led_gauge(loopmillis,vbat,3.3*12,4.2*12,strip.Color(0,  255,   0, 0),strip.Color(100,  0,   0, 0));
+                    }else{
+                        //Driving
+                        float currentMean=escRear.getFiltered_curL()+escRear.getFiltered_curR()+escFront.getFiltered_curL()+escFront.getFiltered_curR();
+                        uint32_t _bgColor=strip.Color(0,  0,   20, 0);
+                        if (reverse_enabled) {
+                            _bgColor=strip.Color(20,  0,   20, 0);
+                        }
+                        led_gauge(loopmillis,currentMean,0,32.0,strip.Color(0,  0,   0, 255),_bgColor);
                    }
-                    led_gauge(loopmillis,currentMean,0,32.0,strip.Color(0,  0,   0, 255),_bgColor);
                }
            }else{
                //Disarmed
--- a/controller_teensy/include/logging.h
+++ b/controller_teensy/include/logging.h
@ -7,67 +7,109 @@
 #include <SD.h> //Format sd cart with FAT or FAT16. FAT32 for >1GB Cards on Teensy4.1

 //#define SDCHIPSELECT 14
+boolean sdcard_available=false;
 boolean datalogging=true;
 String datalogging_filename="UNKNOWN.txt";

+uint16_t chunksize=128; //for bulk data transmission
+
+#define LOGGINGINTERVAL 100 //logging interval when driving
+#define LOGGINGSTANDSTILLTIME 30000 //after which time of standstill logging interval should change
+#define LOGGINGINTERVALSTANDSTILL 500 //logging interval when standing still
+#define LOGGINGINTERVALDISARMED 1000 //logging interval when disarmed
+
+bool serialCommandEcho_Enabled=true;
+
 bool initLogging();
 void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear);
+
+
 void writeLogComment(unsigned long time, String msg);
+void printFileListing(bool pretty);
+void printDirectory(File dir, int numTabs,String parent,bool printSize,bool printFullDirectoryNames);
+void printFile(String filename);
+void printFilesize(String filename);
+void transferFile(String filename);
+void removeFile(String filename);
+void serialCommandLoop(unsigned long loopmillis, ESCSerialComm& escFront, ESCSerialComm& escRear);
+float getBatteryVoltage(ESCSerialComm& escFront, ESCSerialComm& escRear);


 bool initLogging() {
-    Serial.print("Initializing SD card...");
-    // see if the card is present and can be initialized:
-    if (!SD.begin(BUILTIN_SDCARD)) {
-        Serial.println("Card failed, or not present");
-        display.println(F("SD Init Fail!")); display.display();
-        datalogging=false; //disable logging
-        delay(1000);
-        return false;
-    }else{
-        Serial.println("Card initialized.");
-        display.print(F("LOG=")); display.display();
-        if (datalogging){
-          int filenumber=0;
-          char buffer[6];
+  Serial.print("Datalogging is ");
+  if (datalogging) {
+    Serial.println("enabled");
+  }else{
+    Serial.println("disabled");
+  }
+  Serial.print("Initializing SD card...");
+  // see if the card is present and can be initialized:
+  if (!SD.begin(BUILTIN_SDCARD)) {
+      Serial.println("Card failed, or not present");
+      display.println(F("SD Init Fail!")); display.display();
+      sdcard_available=false; //disable logging
+      datalogging=false;
+      delay(1000);
+      return false;
+  }else{
+      sdcard_available=true;
+      Serial.println("Card initialized.");
+      display.print(F("LOG=")); display.display();
+    
+      int filenumber=0;
+      char buffer[6];
+      sprintf(buffer, "%04d", filenumber);
+      datalogging_filename="LOG_"+String(buffer)+".TXT";
+      while(SD.exists(datalogging_filename.c_str()) && filenumber<10000) {
+          //Serial.print(datalogging_filename); Serial.println(" exists");
+          filenumber++;
          sprintf(buffer, "%04d", filenumber);
          datalogging_filename="LOG_"+String(buffer)+".TXT";
-          while(SD.exists(datalogging_filename.c_str()) && filenumber<10000) {
-              Serial.print(datalogging_filename); Serial.println(" exists");
-              filenumber++;
-              sprintf(buffer, "%04d", filenumber);
-              datalogging_filename="LOG_"+String(buffer)+".TXT";

-          }      
-          Serial.print(datalogging_filename); Serial.println(" is free");
-          display.print(datalogging_filename); display.println(); display.display();
-        }
-    }
-    return true;
+      }      
+      Serial.print(datalogging_filename); Serial.println(" is free");
+      display.print(datalogging_filename); 
+      if (!datalogging) { //datalogging is disabled during boot
+        display.print(" OFF");
+      }
+      display.println(); display.display();
+      
+  }
+  return true;
 }


 void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear) {

-  static unsigned long last_datalogging_write=0;
+  static unsigned long last_datalogging_write=loopmillis; //initialize with current time to have first log written after one interval
  static boolean logging_headerWritten=false;
-  if (datalogging) {
-    #define LOGGINGINTERVAL 100
-    if (loopmillis-last_datalogging_write>LOGGINGINTERVAL)
-    {
-      last_datalogging_write=loopmillis;
-      
-      File dataFile = SD.open(datalogging_filename.c_str(), FILE_WRITE);

+  unsigned long logginginterval=LOGGINGINTERVAL;
+  if (armed) { //Change Logginginterval when less is happening
+    if (loopmillis-last_notidle>LOGGINGSTANDSTILLTIME) {
+      logginginterval=LOGGINGINTERVALSTANDSTILL;
+    }
+  }else{ //disamred
+    logginginterval=LOGGINGINTERVALDISARMED;
+  }
+
+  
+  if (loopmillis-last_datalogging_write>logginginterval)
+  {
+    last_datalogging_write=loopmillis;
+
+    if (datalogging && sdcard_available) {
+
+      File dataFile = SD.open(datalogging_filename.c_str(), FILE_WRITE);

      if (dataFile) { // if the file is available, write to it
        if (!logging_headerWritten) {
          dataFile.print("time,cmd_FrontL,cmd_FrontR,cmd_RearL,cmd_RearR,");
          dataFile.print("current_FrontL,current_FrontR,current_RearL,current_RearR,");
          dataFile.print("rpm_FrontL,rpm_FrontR,rpm_RearL,rpm_RearR,");
-          dataFile.print("temp_Front,temp_Rear,vbat_Front,vbat_Rear,");
+          dataFile.print("temp_ESCFront,temp_ESCRear,vbat_Front,vbat_Rear,");
          dataFile.print("currentAll,throttle,brake,speed,trip_Front,trip_Rear,trip,currentConsumed_Front,currentConsumed_Rear,currentConsumed,watthoursConsumed,");
-          dataFile.println("temp_ESCFront,temp_ESCRear,temp_Air,looptime_duration");
+          dataFile.println("temp_Front,temp_Rear,temp_Air,looptime_duration_min,looptime_duration_max");
          dataFile.print("#TIMESTAMP:"); dataFile.println(now());
          logging_headerWritten=true;
        }
@ -99,11 +141,15 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
        dataFile.print(escRear.getCurrentConsumed(),3); dataFile.print(",");
        dataFile.print(currentConsumed,3); dataFile.print(",");
        dataFile.print(watthoursConsumed,3); dataFile.print(",");
-        dataFile.print(temp_ESCFront,2); dataFile.print(",");
-        dataFile.print(temp_ESCRear,2); dataFile.print(",");
+        dataFile.print(temp_Front,2); dataFile.print(",");
+        dataFile.print(temp_Rear,2); dataFile.print(",");
        dataFile.print(temp_Air,2); dataFile.print(",");
-        dataFile.print(looptime_duration); //dataFile.print(",");
-        looptime_duration=0; //reset
+        dataFile.print(looptime_duration_min); dataFile.print(",");
+        dataFile.print(looptime_duration_max); //dataFile.print(",");
+        looptime_duration_max=0; //reset
+        looptime_duration_min=1000; //reset
+        
+        
        
        dataFile.println("");
        dataFile.close();
@ -111,12 +157,16 @@ void loggingLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm
        error_sdfile_unavailable=true;
      }
    }
+
+    looptime_duration_max=0; //reset
+    looptime_duration_min=1000; //reset
+
  }
 }

 void writeLogComment(unsigned long time, String msg) {
    //SerialRef.print("#"); SerialRef.print(time/1000.0,3); SerialRef.print(","); SerialRef.print(msg); SerialRef.println();
-    if (datalogging) {
+    if (datalogging && sdcard_available) {
        File dataFile = SD.open(datalogging_filename.c_str(), FILE_WRITE);

        if (dataFile) { // if the file is available, write to it
@ -134,6 +184,10 @@ String getLogFilename() {
  return datalogging_filename;
 }

+bool getDatalogging() {
+  return datalogging;
+}
+
 bool loadTripSD()
 {
  //stats.txt containt lines with driven distance or consume current.
@ -149,6 +203,7 @@ bool loadTripSD()
    myFile.close();
    Serial.println("TripSD: time written");
  }else{
+    Serial.println("TripSD: could not open stats.txt");
    return false;
  }

@ -191,7 +246,7 @@ bool loadTripSD()
 }

 void writeTrip(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear) {
-  if (datalogging) {
+  if (datalogging && sdcard_available) {
    File myFile = SD.open("stats.txt", FILE_WRITE);
    if (myFile) {
      myFile.print("trp=");
@ -201,15 +256,19 @@ void writeTrip(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm&
      myFile.print("owh=");
      myFile.println(overallWatthoursConsumed);
      myFile.print("vlt=");
-      float _voltage=(escFront.getFeedback_batVoltage()+escRear.getFeedback_batVoltage())/2.0;
+      float _voltage=getBatteryVoltage(escFront, escRear);
      myFile.println(_voltage,2);
      myFile.close();
    }
  }
 }

+float getBatteryVoltage(ESCSerialComm& escFront, ESCSerialComm& escRear) {
+  return (escFront.getFeedback_batVoltage()+escRear.getFeedback_batVoltage())/2.0;
+}
+
 void resetTrip() {
-  if (datalogging) {
+  if (datalogging && sdcard_available) {
    File myFile = SD.open("stats.txt", FILE_WRITE);
    if (myFile) {
      myFile.print("trp=");
@ -227,4 +286,260 @@ void resetTrip() {
  }
 }

+
+
+
+void serialCommandLoop(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm& escRear) {
+  #define MAX_MESSAGE_LENGTH 80
+
+  uint8_t timeoutcounter=MAX_MESSAGE_LENGTH;
+  
+  while (Serial.available() > 0 && timeoutcounter>0)
+  {
+    timeoutcounter--;
+    
+    static char message[MAX_MESSAGE_LENGTH];
+    static unsigned int message_pos = 0;
+    
+    char inByte = Serial.read();
+    if (inByte == '\r') {
+      break; //ignore CR
+    }
+    
+    
+    if ( inByte != '\n' && (message_pos < MAX_MESSAGE_LENGTH - 1) )
+    {
+      
+      message[message_pos] = inByte;
+      message_pos++;
+    }
+    
+    else
+    {
+      message[message_pos] = '\0';
+      
+      
+      String smessage=String(message);
+
+      if(smessage.equals("echo off")) {
+        serialCommandEcho_Enabled=false;
+      }else if(smessage.equals("echo on")) {
+        serialCommandEcho_Enabled=true;
+      }
+
+      if (serialCommandEcho_Enabled) { //Echo Command
+        Serial.print("$"); Serial.println(message);
+      }
+
+      //Handle Commands
+      if(smessage.equals("test")) {
+        Serial.println("OK");
+      }else if(smessage.equals("ls")) {
+        printFileListing(false);
+      }else if(smessage.equals("ls -a")) {
+        printFileListing(true);
+      }else if(smessage.startsWith("cat")) {
+        String _filename=smessage.substring(4);
+        if (_filename.length()<3){ //if no filename given, use current log file
+          _filename=getLogFilename();
+        }
+        printFile(_filename);
+      }else if(smessage.startsWith("get")) {
+        String _filename=smessage.substring(4);
+        transferFile(_filename);
+      }else if(smessage.startsWith("sizeof")) {
+        String _filename=smessage.substring(7);
+        printFilesize(_filename);
+      }else if(smessage.startsWith("chunksize")) { //change chunksize for get command
+        String _chunksizestring=smessage.substring(10);
+        long _chunksize=_chunksizestring.toInt();        
+        if (_chunksize>0 && _chunksize<LONG_MAX) { //value ok
+          chunksize=_chunksize;
+        }else{
+          Serial.println("Chunksize value out of range");
+        }
+      }else if(smessage.startsWith("rm")) {
+        removeFile(smessage.substring(3));
+      }else if(smessage.equals("log off")) {
+        writeLogComment(loopmillis, "Datalogging disabled by serial command");  
+        datalogging=false;
+        Serial.print("Log disabled: "); Serial.println(datalogging_filename);
+      }else if(smessage.equals("log on")) {
+        datalogging=true;
+        writeLogComment(loopmillis, "Datalogging enabled by serial command");  
+        Serial.print("Log enabled: "); Serial.println(datalogging_filename);
+      }else if(smessage.equals("show stats")) {
+        Serial.print("overallTrip\t"); Serial.println(overallTrip);
+        Serial.print("overallCurrentConsumed\t"); Serial.println(overallCurrentConsumed);
+        Serial.print("overallWatthoursConsumed\t"); Serial.println(overallWatthoursConsumed);
+        Serial.print("voltage\t"); Serial.println(getBatteryVoltage(escFront,escRear));
+      }else if(smessage.equals("show sensors")) {
+        Serial.print("loopmillis\t"); Serial.println(loopmillis);
+        Serial.print("temp_ESCFront\t"); Serial.println(escFront.getFeedback_boardTemp());
+        Serial.print("temp_ESCRear\t"); Serial.println(escRear.getFeedback_boardTemp());
+        Serial.print("vbat_Front\t"); Serial.println(escFront.getFeedback_batVoltage());
+        Serial.print("vbat_Rear\t"); Serial.println(escRear.getFeedback_batVoltage());        
+        Serial.print("throttle\t"); Serial.println(throttle_pos);
+        Serial.print("brake\t"); Serial.println(brake_pos);
+        Serial.print("trip_Front\t"); Serial.println(escFront.getTrip());
+        Serial.print("trip_Rear\t"); Serial.println(escRear.getTrip());
+        Serial.print("trip\t"); Serial.println(trip);
+        Serial.print("currentConsumed_Front\t"); Serial.println(escFront.getCurrentConsumed(),3);
+        Serial.print("currentConsumed_Rear\t"); Serial.println(escRear.getCurrentConsumed(),3);
+        Serial.print("currentConsumed\t"); Serial.println(currentConsumed,3);
+        Serial.print("watthoursConsumed\t"); Serial.println(watthoursConsumed,3);
+        Serial.print("temp_Front\t"); Serial.println(temp_Front,3);
+        Serial.print("temp_Rear\t"); Serial.println(temp_Rear,3);
+        Serial.print("temp_Air\t"); Serial.println(temp_Air,3);
+        Serial.print("looptime_duration_min\t"); Serial.println(looptime_duration_min);
+        Serial.print("looptime_duration_max\t"); Serial.println(looptime_duration_max);
+      }
+      
+      message_pos = 0;
+    }
+  }
+}
+
+void printFileListing(bool pretty) {
+  File root;
+  root = SD.open("/");
+
+  if (pretty) {
+    printDirectory(root, 0,"",true,false); //tabbed with file sizes
+  }else{
+    printDirectory(root, 0,"",false,true); //full paths without size
+  }
+}
+
+
+void printDirectory(File dir, int numTabs,String parent,bool printSize,bool printFullDirectoryNames) {
+  
+
+  while (true) {
+
+    File entry =  dir.openNextFile();
+    if (! entry) {
+      // no more files
+      break;
+    }
+    if (!printFullDirectoryNames) {
+      for (uint8_t i = 0; i < numTabs; i++) {
+        Serial.print('\t');
+      }
+      
+    }
+
+    if (!entry.isDirectory() || !printFullDirectoryNames) {
+      Serial.print(parent+entry.name());
+    }
+    
+    if (entry.isDirectory()) {
+      if (!printFullDirectoryNames) {
+        Serial.println("/");
+      }
+      printDirectory(entry, numTabs + 1,parent+entry.name()+"/",printSize,printFullDirectoryNames);
+    } else {
+      if (printSize) {
+        // files have sizes, directories do not
+        Serial.print("\t\t");
+        Serial.print(entry.size(), DEC);
+      }
+      Serial.println();
+    }
+    entry.close();
+  }
+}
+
+void printFilesize(String filename) {
+  File dataFile = SD.open(filename.c_str(), FILE_READ);
+  if (dataFile) {
+    Serial.println(dataFile.size(), DEC);
+    dataFile.close();
+  }else{
+    Serial.println('0');
+  }
+
+}
+
+
+void printFile(String filename) {
+
+  File dataFile = SD.open(filename.c_str(), FILE_READ);
+
+  
+
+  // if the file is available, write to it:
+  if (dataFile) {
+    while (dataFile.available()) {
+      Serial.write(dataFile.read());
+    }
+    dataFile.close();
+  }
+  // if the file isn't open, pop up an error:
+  else {
+    Serial.print("error opening "); Serial.println(filename);
+  }
+  
+}
+
+
+void transferFile(String filename) {
+  //similar to printFile, but with checksum and chunk based transfer
+  
+  
+  
+
+  File dataFile = SD.open(filename.c_str(), FILE_READ);
+
+  bool transmiterror=false;
+
+  // if the file is available, write to it:
+  if (dataFile) {
+    while (dataFile.available() && !transmiterror) {
+      byte checksum=0;
+      for (uint16_t i=0;i<chunksize;i++) {
+        if (dataFile.available()) {
+          byte b = dataFile.read();
+          Serial.write(b);
+          checksum+=b;
+        }
+      }
+      int inByte=-1;
+      while (inByte==-1) {
+        if (Serial.available() > 0)
+        {
+          inByte = Serial.read();
+          
+          if ((byte)inByte!=checksum){
+            transmiterror=true; //exit
+            Serial.println();
+            Serial.println("TRANSMISSION ERROR WRONG CHECKSUM");
+          }
+        }
+      }
+
+    }
+    dataFile.close();
+  }
+  // if the file isn't open, pop up an error:
+  else {
+    Serial.print("error opening "); Serial.println(filename);
+  }
+  
+}
+
+
+void removeFile(String filename) {
+
+  SD.remove(filename.c_str());
+  if (SD.exists(filename.c_str())) {
+    Serial.println("File still exists");
+  } else {
+    Serial.println("OK");
+  }
+
+}
+
+
+
 #endif
--- a/controller_teensy/include/rc.h
+++ b/controller_teensy/include/rc.h
@ -0,0 +1,121 @@
+#ifndef _RC_H_
+#define _RC_H_
+
+
+#define RC
+
+#include <PulsePosition.h>
+PulsePositionInput ppmIn;
+
+#define PPMREADPERIOD 20 //period for d4r-ii is 18ms
+static int count=0;
+
+#define PIN_PPM 9
+
+#define PPM_CHANNELS 8
+#define PPM_SAVE_MIN 950 //minimum allowed for valid data
+#define PPM_SAVE_MAX 2050 //maximum allowed for valid data
+#define PPM_MIN 1000
+#define PPM_MAX 2000
+#define PPM_MID 1500
+#define PPM_DEADBAND 5
+#define PPM_CHANNEL_THROTTLE 1
+#define PPM_CHANNEL_STEER 2
+#define PPM_CHANNEL_MODE 5
+float ppm[PPM_CHANNELS];
+
+unsigned long ppm_count_success=0;
+unsigned long ppm_count_fail=0;
+
+void initRC();
+void readPPM(unsigned long loopmillis);
+void printPPM();
+
+int16_t getRCThrottle();
+int16_t getRCSteer();
+uint8_t getRCMode(uint8_t modes);
+
+bool rc_fullcontrol_enabled=false; //full remote control. can be cancelled by button press
+bool rc_steer_enabled=false; //only rc steering
+
+void initRC() {
+  ppmIn.begin(PIN_PPM);
+}
+
+void readPPM(unsigned long loopmillis) {
+    int ppm_num = ppmIn.available();
+    if (ppm_num > 0) {
+        bool ppm_ok=true;
+        float new_ppm[PPM_CHANNELS];
+        if (ppm_num != PPM_CHANNELS) {
+            ppm_ok=false;
+        }else{
+            for (int i=1; i <= ppm_num; i++) {
+                float val=ppmIn.read(i);
+                new_ppm[i-1]=val;
+                if (val<PPM_SAVE_MIN || val>PPM_SAVE_MAX) {
+                    ppm_ok=false;
+                }
+            }
+        }
+        
+        if (ppm_ok) {
+            ppm_count_success+=1;
+            std::copy(std::begin(new_ppm), std::end(new_ppm), std::begin(ppm));
+        }else{
+            ppm_count_fail+=1;
+        }
+    }
+}
+
+float getPPMSuccessrate() {
+    float rate=ppm_count_success*1.0/(ppm_count_success+ppm_count_fail);
+    if (ppm_count_success+ppm_count_fail>500) {
+        ppm_count_success=0;
+        ppm_count_fail=0;
+    }
+    return rate;
+}
+
+//Return value 0 - 1000
+int16_t getRCThrottle() {
+    return constrain(map(ppm[PPM_CHANNEL_THROTTLE-1],PPM_MID+PPM_DEADBAND,PPM_MAX,0,1000), 0,1000);
+}
+
+int16_t getRCBrake() {
+    return constrain(map(ppm[PPM_CHANNEL_THROTTLE-1],PPM_MID-PPM_DEADBAND,PPM_MIN,0,1000), 0,1000);
+}
+
+//Return value -1000 - 1000
+int16_t getRCSteer() {
+    if (ppm[PPM_CHANNEL_STEER-1]>PPM_MID+PPM_DEADBAND){
+        return constrain(map(ppm[PPM_CHANNEL_STEER-1],PPM_MID+PPM_DEADBAND,PPM_MAX,0,1000), 0,1000);
+    }else if (ppm[PPM_CHANNEL_STEER-1]<PPM_MID-PPM_DEADBAND){
+        return constrain(map(ppm[PPM_CHANNEL_STEER-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);
+    return uint8_t(v*modes);
+}
+
+
+void printPPM(unsigned long loopmillis){
+    
+    count = count + 1;
+    Serial.print("ms :");
+    Serial.print(count);
+    Serial.print(" :  ");
+    for (int i=1; i <= PPM_CHANNELS; i++) {
+        Serial.print(ppm[i-1]);
+        Serial.print("  ");
+    }
+    Serial.println();
+}
+
+#endif
--- a/controller_teensy/include/temperature.h
+++ b/controller_teensy/include/temperature.h
@ -4,11 +4,13 @@
 #include <OneWire.h>
 #include <DallasTemperature.h>

+//#define SEARCH_DEVICES

-DeviceAddress thermometerESCFront={0x28,0xFF,0x64,0x0E,0x77,0xB0,0xAB,0x4B}; //IC with one marking  28FF640E77B0AB4B
-float temp_ESCFront;
-DeviceAddress thermometerESCRear={0x28,0xFF,0x64,0x0E,0x76,0x5D,0x86,0xC2}; //IC with two markings  
-float temp_ESCRear;
+
+DeviceAddress thermometerFront={0x28,0xFF,0x64,0x0E,0x77,0xB0,0xAB,0x4B}; //IC with one marking  28FF640E77B0AB4B
+float temp_Front;
+DeviceAddress thermometerRear={0x28,0xFF,0x64,0x0E,0x76,0x5D,0x86,0xC2}; //IC with two markings  
+float temp_Rear;
 DeviceAddress thermometerAir={0x28,0xFF,0x64,0x0E,0x74,0x7E,0xFE,0x23}; //IC with three markings 28FF640E747EFE23
 float temp_Air;

@ -29,20 +31,15 @@ void printAddress(DeviceAddress deviceAddress);
 void initTemperature() {

  sensors.begin();
-  delay(1000);

+  //Just search for devices. Only needed when connecting a new sensor to find the address
+#ifdef SEARCH_DEVICES

  Serial.print("Locating 1Wire devices...");
  Serial.print("Found ");
  Serial.print(sensors.getDeviceCount(), DEC);
  Serial.println(" devices.");

-  delay(1000);
-
-  delay(1000);
-
-
-  //Just search for devices. Only needed when connecting a new sensor to find the address
  oneWire.reset_search();
  
  for (uint8_t i=0;i<sensors.getDeviceCount();i++){
@ -58,8 +55,9 @@ void initTemperature() {
  }

  delay(1000);
+#endif

-  //sensors.setResolution(thermometerReservoir, TEMPERATURE_PRECISION);
+  //sensors.setResolution(thermometerESCFront, TEMPERATURE_PRECISION);
  
 
 }
@ -86,8 +84,8 @@ bool temperatureLoop(unsigned long loopmillis) {
        if (sensors.isConversionComplete()) {
            flag_requestTemperatures=false;
            last_read_ds18b20=loopmillis;
-            temp_ESCFront= sensors.getTempC(thermometerESCFront); //This takes ~12.5ms
-            temp_ESCRear= sensors.getTempC(thermometerESCRear);
+            temp_Front= sensors.getTempC(thermometerFront); //This takes ~12.5ms
+            temp_Rear= sensors.getTempC(thermometerRear);
            temp_Air= sensors.getTempC(thermometerAir);            
        }
    }
--- a/controller_teensy/lib/hoverboard-esc-serial-comm
+++ b/controller_teensy/lib/hoverboard-esc-serial-comm
@ -1 +1 @@
-Subproject commit 150ce61f9f8d8c013f2fca424ec2976c3582d403
+Subproject commit 0cf2df74e186bc5c6dd60cecedb3a865f5b9d467
--- a/controller_teensy/platformio.ini
+++ b/controller_teensy/platformio.ini
@ -26,6 +26,7 @@ lib_deps =
    adafruit/Adafruit SSD1306@^2.5.7
    https://github.com/adafruit/Adafruit_NeoPixel
    https://github.com/milesburton/Arduino-Temperature-Control-Library/
+    https://github.com/PaulStoffregen/PulsePosition


 [env:teensy31]
--- a/controller_teensy/src/main.cpp
+++ b/controller_teensy/src/main.cpp
@ -16,15 +16,18 @@
 #include "led.h"
 #include "temperature.h"

-//#include "comms.h"
+
 String getLogFilename();
+bool getDatalogging();
 #include "display.h"
 #include "logging.h"
+#include "rc.h"

 #include "ADS1X15.h"



+//#define CALIBRATION_THROTTLE_CURVE //uncomment to enable throttleA and B serial output on button press



@ -48,7 +51,7 @@ void readADC();
 void failChecks();
 //void sendCMD();
 void calculateSetSpeed(unsigned long timediff);
-void checkLog();
+

 void leds();

@ -69,11 +72,25 @@ void setup()

  Serial1.begin(SERIAL_LOG_BAUD); //TX1=1, RX1=0

-  //Serial2.begin(SERIAL_CONTROL_BAUD); //control, TX2=10, RX2=9
-  //Serial3.begin(SERIAL_CONTROL_BAUD); //control, TX3=8, RX3=7
-
  
  pinMode(PIN_PWRBUTTON, INPUT_PULLUP); //Pressed=High
+  
+  datalogging=false; //disable logging when connected via usb to not clutter up sd card
+  Serial.print("PWRBUTTON ");
+  for (uint8_t i=0;i<10;i++) { //check a few times
+    if (!digitalRead(PIN_PWRBUTTON)) { //button is not pressed during startup means teensy is powered externally (usb)
+      Serial.print(".");
+      delay(100); //give more time to disable logging
+    }else{
+      datalogging=true; //button presse at least once recognized. enable logging
+      Serial.print("X");
+    }
+  }
+  if (!datalogging){
+    Serial.println(" not pressed. Logging disabled!");
+  }else{
+    Serial.println(" Pressed. Logging enabled");
+  }

  pinMode(PIN_LED_START, OUTPUT); //Active High

@ -90,19 +107,21 @@ void setup()
  led_testLEDSBlocking();
  
  
-  delay(2000);
+  delay(100);
  Serial.println("Init Functions");
  led_simpeProgress(0,1);

  bool initResult=false;
  
  initResult=display_init();
+  if (!initResult) {
+    writeLogComment((unsigned long)millis(), "SSD1306 allocation failed");
+  }
  led_simpeProgress(1,initResult);
-  

  
  initResult=initLogging();
-  led_simpeProgress(2,initResult);
+  led_simpeProgress(2,(initResult ? (datalogging ? 1:2):0)); //0=sd card fail, 1=sd ok and logging, 2(warn)=sd ok and logging off
  
  

@ -127,7 +146,6 @@ void setup()
      // also set ADSREADPERIOD to at least the read interval
    ADS.requestADC(0); //Start requesting a channel
    led_simpeProgress(6,true);
-    writeLogComment((unsigned long)millis(), "ADS1115 Initialized");
  }
  delay(10);
  for (uint8_t i=0;i<4;i++){ //read all channels once to have adc readings ready in first loop (to prevent premature failsafe)
@ -139,6 +157,8 @@ void setup()
  setSyncProvider(getTeensy3Time); //See https://www.pjrc.com/teensy/td_libs_Time.html#teensy3
  if (timeStatus()!= timeSet) {
    Serial.println("Unable to sync with the RTC");
+
+    writeLogComment((unsigned long)millis(), "Unable to sync with the RTC");
    led_simpeProgress(7,false);
  } else {
    Serial.println("RTC has set the system time");
@ -146,7 +166,7 @@ void setup()
  }


-  if (datalogging) { //sd init was successful
+  if (sdcard_available) { //sd init was successful
    initResult=loadTripSD();
  }else{
    initResult=false;
@ -156,13 +176,18 @@ void setup()

  initTemperature();
  led_simpeProgress(9,true);
+
+  initRC();
+
+  led_simpeProgress(10,true);
  


  writeLogComment(millis(), "Setup Finished");
-  led_simpeProgress(15,true);
  
  led_simpleProgressWait(); //wait longer if any errors were displayed with led_simpeProgress()
+
+  Serial.println("Ready");
 }


@ -173,46 +198,6 @@ void loop() {

  loopmillis=millis(); //read millis for this cycle
  
-
-
-  /*
-  // ____ Debugging pending serial byted for feedback
-  static int s2availmax=0;
-  int _a2=Serial2.available();
-  if (_a2>s2availmax) {
-    s2availmax=_a2;
-    //Serial.print("new s2availmax"); Serial.println(s2availmax);
-    String _text="Serial2 Bytes Available Max=";
-    _text+=s2availmax;
-    writeLogComment(Serial1,loopmillis, _text);
-  }
-
-  static int s3availmax=0;
-  int _a3=Serial3.available();
-  if (_a3>s3availmax) {
-    s3availmax=_a3;
-    //Serial.print("new s3availmax"); Serial.println(s3availmax);
-    String _text="Serial3 Bytes Available Max=";
-    _text+=s3availmax;
-    writeLogComment(Serial1,loopmillis, _text);
-  }
-  // ----- End of debug
-
-
-
-  bool newData2=ReceiveSerial(SerialcomFront,FeedbackFront, NewFeedbackFront, Serial2); 
-  bool newData3=ReceiveSerial(SerialcomRear,FeedbackRear, NewFeedbackRear, Serial3);
-  //Max (40) or 22 available/pending bytes
-
-  if (newData2) {
-    updateMotorparams(motorparamsFront,FeedbackFront,loopmillis);
-  }
-  if (newData3) {
-    updateMotorparams(motorparamsRear,FeedbackRear,loopmillis);
-  }
-  */
-
-
  

  
@ -240,6 +225,13 @@ void loop() {
    readADSButtons();
  }

+
+  static unsigned long last_ppmread=0;
+  if (loopmillis - last_ppmread > PPMREADPERIOD) { //read digital input states
+    last_ppmread=loopmillis;
+    readPPM(loopmillis);
+  }
+
  
  failChecks();  

@ -253,14 +245,17 @@ void loop() {

    max_filtered_currentAll=max(max_filtered_currentAll,filtered_currentAll);
    min_filtered_currentAll=min(min_filtered_currentAll,filtered_currentAll);
-    max_filtered_wattAll=max(max_filtered_wattAll,filtered_currentAll*(escFront.getFeedback_batVoltage()+escRear.getFeedback_batVoltage())/2.0);
-    min_filtered_wattAll=min(min_filtered_wattAll,filtered_currentAll*(escFront.getFeedback_batVoltage()+escRear.getFeedback_batVoltage())/2.0);
+    float _meanVoltage=(escFront.getFeedback_batVoltage()+escRear.getFeedback_batVoltage())/2.0;
+    max_filtered_wattAll=max(max_filtered_wattAll,filtered_currentAll*_meanVoltage);
+    min_filtered_wattAll=min(min_filtered_wattAll,filtered_currentAll*_meanVoltage);
+    min_voltage=min(min_voltage,_meanVoltage);
    max_meanSpeed=max(max_meanSpeed,(escFront.getMeanSpeed()+escRear.getMeanSpeed())/2);
    if (!armed) { //reset statistics if disarmed
      max_filtered_currentAll=0;
      min_filtered_currentAll=0;
      max_filtered_wattAll=0;
      min_filtered_wattAll=0;
+      min_voltage=99;
      max_meanSpeed=0;
    }
  }
@ -288,32 +283,8 @@ void loop() {
    last_statsupdate=loopmillis;
  }

-  /*  TODO: remove this if, because everything contained in esc.update()
-  if (loopmillis - last_send > SENDPERIOD) { //Calculate motor stuff and send to motor controllers    
-    last_send=loopmillis;
-    //sendCMD();    
-    
+  

-    //Update speed and trip
-    float _meanRPM=(FeedbackFront.speedL_meas-FeedbackFront.speedR_meas+FeedbackRear.speedL_meas-FeedbackRear.speedR_meas)/4.0;
-    meanSpeedms=_meanRPM*wheelcircumference/60.0;   // Units: 1/min * m / 60s
-    trip+=abs(meanSpeedms)* (SENDPERIOD/1000.0);
-
-    //mah consumed
-    currentConsumed += (motorparamsFront.filtered_curL+motorparamsFront.filtered_curR+motorparamsRear.filtered_curL+motorparamsRear.filtered_curR)* (SENDPERIOD/1000.0)/3600.0; //amp hours
-  }
-  */
-
-  //If needed write log to serial port
-  //checkLog(); //TODO remove
-  loggingLoop(loopmillis,escFront,escRear);
-  if (!armed && !statswritten) { //write stats only once when disarmed
-    statswritten=true;
-    writeTrip(loopmillis,escFront,escRear);
-  }
-  if (statswritten && armed) {
-    statswritten=false;
-  }

  leds();
  led_update(loopmillis,escFront,escRear); //ws2812 led ring
@ -340,11 +311,11 @@ void loop() {
    last_fan_update=loopmillis;
    boolean fanstatus=digitalRead(PIN_FAN);
    //float temp=max(escFront.getFeedback_boardTemp(),escRear.getFeedback_boardTemp());
-    float temp=max(temp_ESCFront,temp_ESCRear);
-    if (temp_ESCFront==DEVICE_DISCONNECTED_C || temp_ESCRear==DEVICE_DISCONNECTED_C ) { //temperature error
+    float temp=max(temp_Front,temp_Rear);
+    if (temp_Front==DEVICE_DISCONNECTED_C || temp_Rear==DEVICE_DISCONNECTED_C ) { //temperature error
      digitalWrite(PIN_FAN,HIGH); //force fan on

-    }else{ //normal temperature control
+    }else{ //normal temperature control_currentIncrease
      
      if (!fanstatus) { //fan is off
        if (temp>=fan_turn_on_temp){
@ -359,8 +330,24 @@ void loop() {
  
    
  }
+  
+  
+  serialCommandLoop(loopmillis,escFront,escRear);

-  looptime_duration=max(looptime_duration,millis()-loopmillis);
+
+  //Logging
+  loggingLoop(loopmillis,escFront,escRear);
+  if (!armed && !statswritten) { //write stats only once when disarmed
+    statswritten=true;
+    writeTrip(loopmillis,escFront,escRear);
+  }
+  if (statswritten && armed) {
+    statswritten=false;
+  }
+  
+
+  looptime_duration_min=min(looptime_duration_min,millis()-loopmillis);
+  looptime_duration_max=max(looptime_duration_max,millis()-loopmillis);

 }

@ -408,24 +395,9 @@ void readADS() { //sequentially read ads and write to variable


 void readADC() {
-  
-  //Serial.print(ads_throttle_A_raw); Serial.print('\t'); 
-  //Serial.print(ads_throttle_B_raw); Serial.print('\t'); 
-  //Serial.print(ads_brake_raw); Serial.print('\t'); 
-  //Serial.print(ads_control_raw); Serial.println();
-  //throttle_raw = (ads_throttle_A_raw+ads_throttle_B_raw)/2.0*THROTTLE_ADC_FILTER + throttle_raw*(1-THROTTLE_ADC_FILTER); //apply filter
-
-  throttle_rawA=ads_throttle_A_raw;
-  throttle_rawB=ads_throttle_B_raw;
-
-
-  //maps throttle curve to be linear
-  //throttle_pos=max(0,min(1000,linearizeThrottle(throttle_raw))); //map and constrain
-  throttle_posA=max(0,min(1000, linearizeThrottle(ads_throttle_A_raw, throttleCurvePerMM_A, sizeof(throttleCurvePerMM_A)/sizeof(throttleCurvePerMM_A[0]), throttleCurvePerMM_A_Descending ) )); //map and constrain
-  throttle_posB=max(0,min(1000, linearizeThrottle(ads_throttle_B_raw, throttleCurvePerMM_B, sizeof(throttleCurvePerMM_B)/sizeof(throttleCurvePerMM_B[0]), throttleCurvePerMM_B_Descending ) )); //map and constrain
-  
-  //Serial.print(throttle_posA); Serial.print('\t'); 
-  //Serial.print(throttle_posB); Serial.print('\t'); 
+  throttle_posA=max(0,min(1000, linearizeThrottle(ads_throttle_A_raw, throttleCurvePerMM_A, sizeof(throttleCurvePerMM_A)/sizeof(throttleCurvePerMM_A[0]), throttleCurvePerMM_A_Descending ) )); //linearize and constrain (linear function already constrains)
+  throttle_posB=max(0,min(1000, linearizeThrottle(ads_throttle_B_raw, throttleCurvePerMM_B, sizeof(throttleCurvePerMM_B)/sizeof(throttleCurvePerMM_B[0]), throttleCurvePerMM_B_Descending ) )); //linearize and constrain (linear function already constrains
+   
  
  int16_t throttle_posMean = (throttle_posA+throttle_posB)/2.0;   
  
@ -433,20 +405,13 @@ void readADC() {
  throttle_pos = throttle_posMean*THROTTLE_ADC_FILTER + throttle_pos*(1-THROTTLE_ADC_FILTER); //apply filter
 
    
-  brake_raw=ads_brake_raw;
-  brake_pos=max(0,min(1000,map(brake_raw,calib_brake_min,calib_brake_max,0,1000))); //map and constrain
+  brake_linear=map(ads_brake_raw,calib_brake_min,calib_brake_max,0,1000);
+  brake_pos=max(0,min(1000,brake_linear)); //map and constrain
  //brake_pos = (int16_t)(pow((brake_pos/1000.0),2)*1000);



-  if (throttle_pos>0 || ((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0) >0.5 || (!reverse_enabled && brake_pos>0)) { //reset idle time on these conditions (disables reverse driving)
-    last_notidle=loopmillis;
-    reverse_enabled=false;
-  }
  
-  if (loopmillis-last_notidle > REVERSE_ENABLE_TIME) {
-    reverse_enabled=true;
-  }

  int16_t throttlebreak_pos = throttle_pos-brake_pos*2; //reduce throttle_when applying brake
  throttle_pos=constrain(throttlebreak_pos,0,1000);
@ -483,6 +448,7 @@ void failChecks() {
  if ((ads_throttle_A_raw >= failsafe_throttle_min_A) & (ads_throttle_A_raw <= failsafe_throttle_max_A) & (ads_throttle_B_raw >= failsafe_throttle_min_B) & (ads_throttle_B_raw <= failsafe_throttle_max_B)) { //inside safe range (to check if wire got disconnected)
    throttle_ok_time=loopmillis;
  }
+
  if (loopmillis>throttle_ok_time+ADC_OUTOFRANGE_TIME) { //not ok for too long
    if (!error_throttle_outofrange) {
      error_throttle_outofrange=true;
@ -491,10 +457,12 @@ void failChecks() {
    //Serial.print("Error Throttle ADC Out of Range="); Serial.println(throttle_raw);
  }

+
  static unsigned long throttlediff_ok_time=0;
  if (abs(throttle_posA-throttle_posB) <= failsafe_throttle_maxDiff) { //inside safe range (to check if wire got disconnected)
    throttlediff_ok_time=loopmillis;
  }
+#ifndef CALIBRATION_THROTTLE_CURVE //do not check if throttle calibration enabled
  if (loopmillis>throttlediff_ok_time+ADC_DIFFHIGH_TIME) { //not ok for too long
    if (!error_throttle_difftoohigh) {
      error_throttle_difftoohigh=true;
@ -502,16 +470,17 @@ void failChecks() {
    }
    //Serial.print("Error Throttle ADC Out of Range="); Serial.println(throttle_raw);
  }
+#endif


  static unsigned long brake_ok_time=0;
-  if ((brake_raw >= failsafe_brake_min) & (brake_raw <= failsafe_brake_max)) { //outside safe range. maybe wire got disconnected
+  if ((ads_brake_raw >= failsafe_brake_min) & (ads_brake_raw <= failsafe_brake_max)) { //outside safe range. maybe wire got disconnected
    brake_ok_time=loopmillis;
  }
  if (loopmillis>brake_ok_time+ADC_OUTOFRANGE_TIME) { //not ok for too long
    if(!error_brake_outofrange) {
      error_brake_outofrange=true;
-      writeLogComment(loopmillis, "Error Brake ADC Out of Range. ADC="+(String)brake_raw);
+      writeLogComment(loopmillis, "Error Brake ADC Out of Range. ADC="+(String)ads_brake_raw);
    }
    //Serial.print("Error Brake ADC Out of Range="); Serial.println(brake_raw);
  }
@ -540,9 +509,39 @@ 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_linear=brake_pos;
+  int16_t brake_pos_expo = (int16_t)(pow((brake_pos_linear/1000.0),2)*1000);

-  int16_t brake_pos_expo = (int16_t)(pow((brake_pos/1000.0),2)*1000);

+
+#ifdef RC
+  if (throttle_pos>0 || brake_pos>0) { //touch any pedal to cancel rc fullcontrol mode
+    rc_fullcontrol_enabled=false;
+  }
+
+  if (rc_fullcontrol_enabled) {
+    int16_t rcthrottle_pos=getRCThrottle();
+    int16_t rcbrake_pos=getRCBrake();
+    
+
+    adjusted_throttle_pos=constrain(rcthrottle_pos*(throttle_max/1000.0),0,throttle_max); //overwrite with rc values
+    brake_pos_linear=rcbrake_pos;
+    brake_pos_expo = (int16_t)(pow((brake_pos_linear/1000.0),2)*1000);
+  }
+
+#endif
+
+  //Reverse Enable
+  if (throttle_pos>0 || ((escFront.getMeanSpeed()+escRear.getMeanSpeed())/2.0) >0.5 || (!reverse_enabled && brake_pos_linear>0)) { //reset idle time on these conditions (disables reverse driving)
+    last_notidle=loopmillis;
+    reverse_enabled=false;
+  }  
+  if (loopmillis-last_notidle > REVERSE_ENABLE_TIME) {
+    reverse_enabled=true;
+  }
+
+
+  //Throttle Management
  float brakepedal_current_multiplier=startbrakecurrent/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000)

  int16_t cmdreduce_constant=map(brake_pos_expo,0,1000,0,(int16_t)(brake_cmdreduce_proportional*timediff/1000)); //reduce cmd value every cycle
@ -564,27 +563,157 @@ void calculateSetSpeed(unsigned long timediff){
    
  }

-  //acceleration
-  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
+  // ## Acceleration
+  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 with rate limit

  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,throttle_max); //brake "ducking"
+  int16_t cmd_send_toMotor_FL=0;
+  int16_t cmd_send_toMotor_FR=0;
+  int16_t cmd_send_toMotor_RL=0;
+  int16_t cmd_send_toMotor_RR=0;
+  int16_t _cmd_send_toMotor=constrain(cmd_send* (1.0-(brake_pos_expo*0.5/1000.0) ) ,0,throttle_max); //brake "ducking"

-  
-  if (reverse_enabled) {
-    cmd_send_toMotor-=brake_pos*reverse_speed;
+
+  cmd_send_toMotor_FL=_cmd_send_toMotor;
+  cmd_send_toMotor_FR=_cmd_send_toMotor;
+  cmd_send_toMotor_RL=_cmd_send_toMotor;
+  cmd_send_toMotor_RR=_cmd_send_toMotor;
+
+#ifdef RC
+  int16_t differential_steering_max=200;
+
+  #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
+  if (rc_steer_enabled) {
+    if (rc_steer_enable_wait>0) {
+      rc_steer_enable_wait--;
+    }else{ //allow control when counter reached 0
+      if (control_buttonA || control_buttonB) { //cancel rc modes by button press
+        rc_fullcontrol_enabled=false;
+        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;
+    }
+  }else{
+    rc_steer_enable_wait=RC_STEER_ENABLE_WAITTIME;
  }

+#endif
+
+
+
+#ifdef DRIVING_TANKSTEERING
+  // ## Experimental Tank steering
+  /* Notes from Drivetest 20240722
+  When driving slow and pressing button steering wheel is turned more violently.
+  When driving faster (>10km/h) steering wheel is not forced as strong, but bobbycar turns better around itself.
+  As cmd increase in higher ranges is more pronounces in motor torque, the same tanksteering_max_speed=200 is way too strong when driving >20km/h, but okay when driving <10km/h.
+  Disabled this function for now, because if button press is triggered erroneously during fast driving it could be dangerous. Steering manually against it is not possible.
+  */
+  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=2.0; //increase units per second
+  float tanksteering_rate_decrease=3.0; //decrease units per second
+
+  if (control_buttonA && !control_buttonB && !reverse_enabled && throttle_pos>0) { //Right button (A) 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
+  }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
+  }else{ //buttons released
+    if(tanksteering_differential>0) {
+      tanksteering_differential-=tanksteering_rate_decrease*(timediff/1000.0);
+    }else if(tanksteering_differential<0){
+      tanksteering_differential+=tanksteering_rate_decrease*(timediff/1000.0);
+    }
+    tanksteering_differential=constrain(tanksteering_differential,-1.0,1.0); //constrain between 0 and 1
+  }
+
+
+  cmd_send_toMotor_FL+=tanksteering_differential*tanksteering_max_speed;
+  cmd_send_toMotor_FR-=tanksteering_differential*tanksteering_max_speed;
+  cmd_send_toMotor_RL+=tanksteering_differential*tanksteering_max_speed;
+  cmd_send_toMotor_RR-=tanksteering_differential*tanksteering_max_speed;
+#endif
+
+
+
+  // ## Braking, Reversing and Standstill movements below here ##
+  /*
+  if (reverse_enabled) {  //backwards driving not prohibited
+    _cmd_send_toMotor-=brake_pos_linear*reverse_speed;
+
+    cmd_send_toMotor_FL=_cmd_send_toMotor;
+    cmd_send_toMotor_FR=_cmd_send_toMotor;
+    cmd_send_toMotor_RL=_cmd_send_toMotor;
+    cmd_send_toMotor_RR=_cmd_send_toMotor;
+
+  }
+  */
+  
+  
+  float steeringdifferential_speed=0.4; //Speed for turning the steering wheel by differtially driving the front wheels
+
+  if (reverse_enabled) {  //backwards driving not prohibited
+    static bool tanksteering_prohibit_left=false;
+    static bool tanksteering_prohibit_right=false;
+    static bool prohibit_reverse=false;
+
+    if (control_buttonA && !control_buttonB) { //Right button (A) only
+      tanksteering_prohibit_left=true;
+      prohibit_reverse=true;
+    }else if(control_buttonB && !control_buttonA) {//Left button (B) only
+      tanksteering_prohibit_right=true;
+      prohibit_reverse=true;
+    }else if(!control_buttonA && !control_buttonB){ //no button pressed
+      tanksteering_prohibit_left=true;
+      tanksteering_prohibit_right=true;
+      if (throttle_pos<=0 && brake_pos_linear<=0) {//levers released
+        tanksteering_prohibit_left=false;
+        tanksteering_prohibit_right=false;
+        prohibit_reverse=false;
+      }
+    }
+
+    if (!tanksteering_prohibit_right && tanksteering_prohibit_left && prohibit_reverse) { //Right Tanksteering
+      cmd_send_toMotor_FL+=brake_pos_linear*steeringdifferential_speed;
+      cmd_send_toMotor_FR-=brake_pos_linear*steeringdifferential_speed;
+      cmd_send_toMotor_RL+=brake_pos_linear*steeringdifferential_speed;
+      cmd_send_toMotor_RR-=brake_pos_linear*steeringdifferential_speed;
+    }else if(tanksteering_prohibit_right && !tanksteering_prohibit_left && prohibit_reverse) { //Left Tanksteering
+      cmd_send_toMotor_FL-=brake_pos_linear*steeringdifferential_speed;
+      cmd_send_toMotor_FR+=brake_pos_linear*steeringdifferential_speed;
+      cmd_send_toMotor_RL-=brake_pos_linear*steeringdifferential_speed;
+      cmd_send_toMotor_RR+=brake_pos_linear*steeringdifferential_speed;
+    }else if(tanksteering_prohibit_right && tanksteering_prohibit_left && !prohibit_reverse){ //no button on steering wheel pressed, drive backwards
+      int16_t cmd_send_brake=brake_pos_linear*reverse_speed;
+
+      cmd_send_toMotor_FL-=cmd_send_brake;
+      cmd_send_toMotor_FR-=cmd_send_brake;
+      cmd_send_toMotor_RL-=cmd_send_brake;
+      cmd_send_toMotor_RR-=cmd_send_brake;
+    }
+  }
+  
+
+
  if (!controllers_connected || !armed) { //controllers not connected or not armed
    cmd_send=0;
-    cmd_send_toMotor=0; //safety off
+    cmd_send_toMotor_FL=0; //safety off
+    cmd_send_toMotor_FR=0; //safety off
+    cmd_send_toMotor_RL=0; //safety off
+    cmd_send_toMotor_RR=0; //safety off
  }

-  escFront.setSpeed(cmd_send_toMotor,cmd_send_toMotor);
-  escRear.setSpeed(cmd_send_toMotor,cmd_send_toMotor);
+  escFront.setSpeed(cmd_send_toMotor_FL,cmd_send_toMotor_FR);
+  escRear.setSpeed(cmd_send_toMotor_RL,cmd_send_toMotor_RR);

  log_update=true;
 }
@ -610,6 +739,7 @@ void readButtons() {
  static bool button_start_wait_release_flag=false;
  bool last_button_start_state=button_start_state;

+
  if (loopmillis > button_start_lastchange+DEBOUNCE_TIME) { //wait some time after last change
    if (digitalRead(PIN_PWRBUTTON) && !button_start_state) { //start engine button pressed and was not pressed before
      button_start_state=true; //pressed
@ -641,23 +771,87 @@ void readButtons() {
    writeLogComment(loopmillis, "Disarmed by button");
  }
  if (button_start_longpress_flag) {
+#ifndef CALIBRATION_THROTTLE_CURVE //disable arming when throttle calibration enabled (because errorcheck is disabled)
    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
+      rc_fullcontrol_enabled=false;
+      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) {
+          switch (rcmode) {
+            case 0:
+              throttle_max=250;
+              reverse_speed=0.15;
+              max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
+              writeLogComment(loopmillis, "Mode: RC 0");
+            break;
+
+            case 1:
+              throttle_max=250;
+              reverse_speed=0.15;
+              max_acceleration_rate=MEDIUM_MAX_ACCELERATION_RATE;
+              writeLogComment(loopmillis, "Mode: RC 1");
+            break;
+
+            case 2:
+              throttle_max=300;
+              reverse_speed=0.2;
+              max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
+              writeLogComment(loopmillis, "Mode: RC 2");
+            break;
+
+            case 3:
+              throttle_max=400;
+              reverse_speed=0.25;
+              max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
+              writeLogComment(loopmillis, "Mode: RC 3");
+            break;
+
+            case 4:
+              throttle_max=600;
+              reverse_speed=0.25;
+              max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
+              writeLogComment(loopmillis, "Mode: RC 4");
+            break;
+
+            case 5:
+              throttle_max=750;
+              reverse_speed=0.25;
+              max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
+              writeLogComment(loopmillis, "Mode: RC 5");
+            break;
+          }
+          
+          rc_fullcontrol_enabled=true;
+          rc_steer_enabled=true;
+        }else{
+          writeLogComment(loopmillis, "Not Arming. RC throttle and brake not zero");
+          armed=false;
+        }
+          
+      }else if (control_buttonA) { //button A is held down during start button press
        throttle_max=1000;
        reverse_speed=0.25;
+        max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE;
+        writeLogComment(loopmillis, "Mode: Fast");
      }else if (control_buttonB) { //button B is held down during start button press
        throttle_max=750;
        reverse_speed=0.25;
+        max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
+        writeLogComment(loopmillis, "Mode: Medium");
      }else { //no control button pressed during start
        throttle_max=250;
        reverse_speed=0.15;
+        max_acceleration_rate=SLOW_MAX_ACCELERATION_RATE;
+        writeLogComment(loopmillis, "Mode: Slow");
      }

    }else{
      writeLogComment(loopmillis, "Unable to arm");
    }
+#endif
    
  }

@ -682,10 +876,31 @@ void readADSButtons() {

  if (control_buttonA && !last_control_buttonA) { //button A was just pressed
    writeLogComment(loopmillis, "Button A Pressed");
+
+    if (!armed) { //standing disarmed display is showing
+      if (standingDisplayScreen<NUM_STANDINGDISPLAYSCREEN-1){
+        standingDisplayScreen++;
+      }
+
+
+      #ifdef CALIBRATION_THROTTLE_CURVE
+        if (standingDisplayScreen==(NUM_STANDINGDISPLAYSCREEN-1)) { //on last page and button A pressed
+          Serial.print(ads_throttle_A_raw); Serial.print(','); 
+          Serial.println(ads_throttle_B_raw);
+        }
+      #endif
+
+    }
  }

  if (control_buttonB && !last_control_buttonB) { //button B was just pressed
    writeLogComment(loopmillis, "Button B Pressed");    
+
+    if (!armed) { //standing disarmed display is showing      
+      if (standingDisplayScreen>0){
+        standingDisplayScreen--;
+      }
+    }
  }
 }

--- a/logdata_visualization/analyze.py
+++ b/logdata_visualization/analyze.py
@ -1,52 +1,114 @@
 import matplotlib.pyplot as plt
-import csv
+#import csv
+import pandas as pd

-x=[]
-speed_FrontL=[]
-speed_FrontR=[]
-speed_RearL=[]
-speed_RearR=[]
-
-fp = open('LOG00203c_replacedFrontLeftWheel.TXT')
-
-rdr = csv.DictReader(filter(lambda row: row[0]!='#', fp))
-for row in rdr:
-    #print(row)
-    x.append(float(row['cmd_FrontL']))
-
-    speed_FrontL.append(float(row['speed_FrontL']))
-    speed_FrontR.append(float(row['speed_FrontR']))
-    speed_RearL.append(float(row['speed_RearL']))
-    speed_RearR.append(float(row['speed_RearR']))
-fp.close()
+import numpy as np


-#plt.plot(x,y, label='Loaded from file!')
-scattersize=5
-scatteralpha=0.1
-plt.scatter(x,speed_FrontL, s=scattersize, alpha=scatteralpha, label="speed_FrontL")
-plt.scatter(x,speed_FrontR, s=scattersize, alpha=scatteralpha, label="speed_FrontR")
-plt.scatter(x,speed_RearL, s=scattersize, alpha=scatteralpha, label="speed_RearL")
-plt.scatter(x,speed_RearR, s=scattersize, alpha=scatteralpha, label="speed_RearR")
-plt.xlabel('cmd')
-plt.ylabel('speed')
-plt.title('Interesting Graph\nCheck it out')
-plt.legend()
-plt.show()
+import argparse
+
+def mapRange(value, inMin, inMax, outMin, outMax,constrain=False):
+    if constrain:
+        return max(outMin, min(outMax, outMin + (((value - inMin) / (inMax - inMin)) * (outMax - outMin))))
+    else:
+        return outMin + (((value - inMin) / (inMax - inMin)) * (outMax - outMin))


-'''
-with open(,'r') as csvfile:
-    plots = csv.reader(filter(lambda row: row[0]!='#', csvfile), delimiter=',')
-    for row in plots:
-        x.append(float(row[0]))
-        y.append(float(row[1]))
+parser = argparse.ArgumentParser(description='Analyzes fixed csv logs from bobbycar')
+parser.add_argument('-i', '--input', type=argparse.FileType('r'), required=True, help="input csv log file")
+args = parser.parse_args()

-plt.plot(x,y, label='Loaded from file!')
-plt.xlabel('x')
-plt.ylabel('y')
-plt.title('Interesting Graph\nCheck it out')
-plt.legend()
-plt.show()
-'''
+df = pd.read_csv(args.input.name)

+x = df['timestamp']
+x = [i-x[0] for i in x] #offset time by starttime
+
+
+
+def template():
+    scattersize=1
+    scatteralpha=0.1
+
+
+    fig, ax1 = plt.subplots()
+
+    ax2 = ax1.twinx()
+
+
+    #plt.scatter(x,df['rpm_FrontL'], s=scattersize, alpha=scatteralpha, label="rpm_FrontL")
+    ax1.plot(x,np.array(df['temp_Front']), c='#0000ff', alpha=0.5, label="temp_Front")
+    ax1.plot(x,np.array(df['temp_Rear']), c='#ff0000', alpha=0.5, label="temp_Rear")
+    ax1.plot(x,np.array(df['temp_Air']), c='#00ff00', alpha=0.5, label="temp_Air")
+    #ax2.plot(x,np.array(df['throttle']), c='g', alpha=0.5, label="throttle")
+
+
+    #confidence
+    #confidence_FrontL=[abs(x-df['cmd_FrontL'][i-5 if i>4 else 0])+abs(x-df['cmd_FrontL'][i-10 if i>9 else 0])+abs(x-df['cmd_FrontL'][i-20 if i>19 else 0]) for i,x in enumerate(df['cmd_FrontL'])]
+    #confidence_FrontL=[mapRange(x,0,50,1.0,0.0,True) for x in confidence_FrontL]
+
+    
+    #ax1.scatter(df['cmd_FrontL'],df['rpm_FrontL'], s=scattersize, alpha=scatteralpha, label="FrontL")
+    #ax1.scatter(df['cmd_FrontR'],df['rpm_FrontR'], s=scattersize, alpha=scatteralpha, label="FrontR")
+    #ax1.scatter(df['cmd_RearL'],df['rpm_RearL'], s=scattersize, alpha=scatteralpha, label="RearL")
+    #ax1.scatter(df['cmd_RearR'],df['rpm_RearR'], s=scattersize, alpha=scatteralpha, label="RearR")
+
+    ax1.set_xlabel('timestamp')
+    #plt.ylabel('data')
+    ax1.set_ylabel('first axis')
+    ax2.set_ylabel('second axis')
+    #plt.title('')
+    ax1.legend(loc='upper left')
+    ax2.legend(loc='upper right')
+    plt.show()
+
+
+def rpmDifference():
+    scattersize=1
+    scatteralpha=0.1
+
+
+    fig, ax1 = plt.subplots()
+
+    #confidence_FrontL=[abs(x-df['cmd_FrontL'][i-5 if i>4 else 0])+abs(x-df['cmd_FrontL'][i-10 if i>9 else 0])+abs(x-df['cmd_FrontL'][i-20 if i>19 else 0]) for i,x in enumerate(df['cmd_FrontL'])]
+    frontRPMdiff=np.convolve(np.array(df['rpm_FrontL'])-np.array(df['rpm_FrontR']), np.ones(10)/10, mode='same')
+    rearRPMdiff=np.convolve(np.array(df['rpm_RearL'])-np.array(df['rpm_RearR']), np.ones(10)/10, mode='same')
+    
+    ax1.plot(x,frontRPMdiff, c='#0000ff', alpha=0.5, label="rpm Difference Front")
+    ax1.plot(x,rearRPMdiff, c='#00ff00', alpha=0.5, label="rpm Difference Rear")
+   
+    ax1.set_xlabel('timestamp')
+    ax1.set_ylabel('rpm Difference')
+    ax1.legend(loc='upper left')
+    plt.show()
+
+
+def plot_rpmVsCurrent():
+    scattersize=2
+    scatteralpha=0.5
+
+    #confidence
+    #confidence_FrontL=[abs(x-df['cmd_FrontL'][i-5 if i>4 else 0])+abs(x-df['cmd_FrontL'][i-10 if i>9 else 0])+abs(x-df['cmd_FrontL'][i-20 if i>19 else 0]) for i,x in enumerate(df['cmd_FrontL'])]
+    #confidence_FrontL=[mapRange(x,0,50,1.0,0.0,True) for x in confidence_FrontL]
+
+
+
+    fig, ax1 = plt.subplots()
+    ax1.scatter(df['rpm_FrontL'],df['current_FrontL'], s=5, alpha=scatteralpha, label="FrontL")
+    ax1.scatter(df['rpm_FrontR'],df['current_FrontR'], s=5, alpha=scatteralpha, label="FrontR")
+    #ax1.scatter(df['cmd_FrontR'],df['rpm_FrontR'], s=scattersize, alpha=scatteralpha, label="FrontR")
+    #ax1.scatter(df['cmd_RearL'],df['rpm_RearL'], s=scattersize, alpha=scatteralpha, label="RearL")
+    #ax1.scatter(df['cmd_RearR'],df['rpm_RearR'], s=scattersize, alpha=scatteralpha, label="RearR")
+
+    ax1.set_xlabel('rpm')
+    ax1.set_ylabel('current (A)')
+    plt.title('rpm vs current')
+    ax1.legend(loc='upper left')
+    plt.show()
+
+
+#plot_rpmVsCurrent()
+rpmDifference()
+
+
+
+exit()
--- a/logdata_visualization/copyLogsFromBobbycar.py
+++ b/logdata_visualization/copyLogsFromBobbycar.py
@ -0,0 +1,232 @@
+
+import serial
+import os
+import time 
+import random
+import string
+
+import argparse
+chunksize=4096
+
+#LOG0002   
+#32 = 124 kbps
+#128 = 263 kbps
+#4096 = 416 kbps
+#32768 = 427 kbps
+#65536 = failed
+
+serialport = serial.Serial(port='/dev/ttyACM0', baudrate=115200, timeout=1)
+
+def establish_connection():
+
+    serialport.write("\n".encode())
+    
+
+    serialport.write("echo off\n".encode())
+    time.sleep(0.1)
+    while len(serialport.readline())>0:
+        continue
+    
+
+    serialport.write("test\n".encode())
+    time.sleep(0.1)
+    response = serialport.readline()
+    hrresponse=response.rstrip().decode('ascii')
+    if hrresponse != "OK":
+        print("Unexpected test response:"+str(response))
+        exit()
+
+def get_filenames():
+
+    filenames=[]
+
+    serialport.write("ls\n".encode())
+    while True:            
+            response = serialport.readline()
+            hrresponse=response.rstrip().decode('ascii')
+            if(len(response))>0:
+                #print(hrresponse)
+                filenames.append(hrresponse)
+                
+            else:
+                break
+
+    return filenames
+
+
+def get_filesize(filename):
+
+    filesize=0
+
+    serialport.write(("sizeof "+str(filename)+"\n").encode())
+    time.sleep(0.1)
+    response = serialport.readline()
+    hrresponse=response.rstrip().decode('ascii')
+    if(len(response))>0:
+        filesize=int(hrresponse)
+        
+    return filesize
+
+
+def copy_file(source,destination,expectedsize):
+    os.makedirs(os.path.dirname(writefilename), exist_ok=True)
+
+            
+    transferstarttime=time.time()
+    chunkstarttime=time.time()
+    last_print=time.time()
+
+    with open(writefilename, 'wb') as writer:
+        serialport.write(("chunksize "+str(chunksize)+"\n").encode())
+        serialport.write(("get "+filename+"\n").encode())
+        time.sleep(0.1)
+                    
+
+        acc_datalen=0
+
+        while True:
+            
+            '''
+            response = serialport.readline()
+            hrresponse=response.rstrip().decode('ascii')
+            if(len(response))>0:
+                #print(hrresponse)
+                writer.write(response)
+                
+            else:
+                break
+            '''
+
+            
+            data=serialport.read(chunksize)
+            
+            if(len(data))>0: #data received
+                #print("received "+str(len(data))+" bytes")
+                #hrresponse=data.rstrip().decode('ascii')
+                #print(hrresponse)
+
+                acc_datalen+=len(data)
+
+                checksum=(sum(data) & 0xFF)
+                checksumarray=bytearray([checksum])
+
+                writer.write(data)
+                serialport.write(checksumarray) #request next chunk by sending checksum of last chunk        
+                
+            else:
+                break
+
+
+            if (time.time()-last_print>0.5):
+                last_print=time.time()
+                chunkduration=time.time()-chunkstarttime
+                chunkstarttime=time.time()
+                progress=0
+                if expectedsize>0:
+                    progress=acc_datalen/expectedsize
+                print(str(round(progress*100,0))+"% \t"+str(round(chunkduration*1000,3))+" ms for "+str(len(data))+" Byte \t = "+str(round((len(data)/chunkduration)/1000,3))+" kB/s")
+
+
+    fileduration=time.time()-transferstarttime
+        
+    file_stats=os.stat(writefilename)
+    print("Finished transfer of "+str(acc_datalen)+" B or "+str(file_stats.st_size)+" (os) Byte in "+str(fileduration)+" s \t = "+str(round(file_stats.st_size/fileduration/1000,3))+" kB/s") 
+
+
+    return acc_datalen
+
+
+
+
+def log_off():
+    serialport.write(("log off\n").encode())
+    time.sleep(0.1)
+    response = serialport.readline()
+    hrresponse=response.rstrip().decode('ascii')
+    if (not hrresponse.startswith("Log disabled")):
+        print("Unexpected response:"+str(response))
+        exit()
+
+def delete_file(filename):       
+    
+    
+    serialport.write(("rm "+filename+"\n").encode())
+    time.sleep(0.1)
+    response = serialport.readline()
+    hrresponse=response.rstrip().decode('ascii')
+    if hrresponse != "OK":
+        print("Unexpected response:"+str(response))
+        exit()
+
+
+
+if __name__ == "__main__":
+
+
+    parser = argparse.ArgumentParser(description='Transfers log files from bobbycar over serial')
+    parser.add_argument('-o', '--output', nargs='?', help="output directory")
+    parser.add_argument('-d','--delete', action="store_true", help="delete files after transfer")
+    args = parser.parse_args()
+    outputfolder="sdcard"
+    if (args.output is not None):
+        outputfolder = args.output
+        if(outputfolder[-1]=='/'):
+            outputfolder=outputfolder[:-1] #remove last slash
+    print("Outputfolder:"+outputfolder)
+    
+
+    if serialport.isOpen():
+        
+        establish_connection()
+        
+
+
+        #Get File List
+        filenames=get_filenames()
+
+
+        #Copy all Files    
+        
+        failed=0
+        
+        for filename in filenames:
+            print("Reading file "+filename)
+            expectedsize=get_filesize(filename)
+            print("Expecting "+str(expectedsize)+" Byte")
+
+            writefilename=outputfolder+'/'+filename
+            receivedsize=copy_file(filename,writefilename,expectedsize)
+            
+            if (expectedsize!=receivedsize):
+                print("Warning: Filesize does not match!")
+                failed+=1
+
+            print("")
+
+        print(str(len(filenames))+" Files copied with "+str(failed)+" failed")
+        
+        
+
+        #Delete all files        
+        if (args.delete):
+            if (failed>0):
+                print("Copy not successful. Files won't be deleted!")
+                exit()
+            deletecheckstring=''.join(random.choices(string.ascii_lowercase, k=3))
+            deletecheck=input("Enter "+deletecheckstring+" to confirm deletion of "+str(len(filenames))+" files on bobbycar:")
+
+            if (deletecheck==deletecheckstring):
+                log_off()
+                for filename in filenames:
+                    print("Deleting "+filename)
+                    delete_file(filename)
+            else:
+                print("Verification failed!")
+            
+        
+
+    serialport.write("echo on\n".encode())
+    time.sleep(0.1)
+
+    serialport.close()
+
--- a/logdata_visualization/logfix.py
+++ b/logdata_visualization/logfix.py
@ -2,12 +2,16 @@ import numpy as np
 from datetime import datetime
 import time
 import argparse
+import os.path

 parser = argparse.ArgumentParser(description='Copys, renames and fixes logfiles written by bobbycar sd logger.')
-parser.add_argument('--input', type=argparse.FileType('r'), nargs='+')
-parser.add_argument('--output', nargs='?', type=argparse.FileType('w'))
+parser.add_argument('-i', '--input', type=argparse.FileType('r'), nargs='+', required=True, help="list of input log files")
+parser.add_argument('-o', '--output', nargs='?', type=argparse.FileType('w'), help="output filename")
+parser.add_argument('-c','--consecutive', action="store_true", help="add consecutive files to input. If the input file ends with a number the following logfiles will be added.")
 args = parser.parse_args()

+
+
 ok=True

 def getTimestamp(plines):
@ -71,8 +75,46 @@ def filterLines(plines,plinesStarttime=None):
    return plines,pheader,pcommentlinesMask,pdatalines,pdatalinesFail,pdatalinesOK,pheaderSize,plinesOK,plinesStarttime


+inputFilenames=[]
+
+if (args.consecutive):
+    if(len(args.input)!=1):
+        parser.error("in consequtive mode exactly one input file is required")
+        exit()
+    
+    nextFilename=args.input[0].name
+    while os.path.isfile(nextFilename):
+        print(nextFilename+" exists")
+        inputFilenames.append(nextFilename)
+
+        digitStartpos=len(nextFilename)-1
+        digitEndpos=len(nextFilename)
+
+
+        
+        while (not nextFilename[digitStartpos:digitEndpos].isdigit() and digitStartpos>0 and digitEndpos>0): 
+            digitStartpos-=1
+            digitEndpos-=1
+
+        while (nextFilename[digitStartpos:digitEndpos].isdigit() and digitStartpos>0 and digitEndpos>0): 
+            digitStartpos-=1
+
+        digitStartpos+=1
+
+        
+        number=int(nextFilename[digitStartpos:digitEndpos])+1
+        nextFilename=nextFilename[0:digitStartpos]+str(number).zfill(digitEndpos-digitStartpos)+nextFilename[digitEndpos:]
+        
+        
+
+    
+
+else:
+    inputFilenames=[x.name for x in args.input]
+
+
+

-inputFilenames=[x.name for x in args.input]

 outputFilename=None
 if args.output is not None:
@ -106,7 +148,7 @@ for inputFilename in inputFilenames:

    linesStarttime+=_linesStarttime
    
-    print("Line in file="+str(len(inputlines)))
+    print("Lines in file="+str(len(inputlines)))

 assert len(lines)==len(linesStarttime), "Length of lines and linesStarttime does not match"
Author	SHA1	Message	Date
Fisch	25210fd400	fix div 0 when expected size is 0. fix expected size 0 reading	2025-04-10 19:24:25 +02:00
Fisch	681e33b355	optimize rc control	2024-09-22 19:03:46 +02:00
Fisch	67f0a2cf7e	add schematic pdf	2024-09-21 23:24:29 +02:00
Fisch	2135cba000	add cad files brake and teensy	2024-09-21 22:51:53 +02:00
Fisch	2868ab0bd2	add remote control ppm input	2024-09-21 22:10:51 +02:00
Fisch	5a1734f181	decrease freewheel breaking	2024-08-27 08:13:17 +02:00
Fisch	f09919ca62	add deletion flag and verification	2024-07-22 14:57:18 +02:00
Fisch	f3775e7d01	minor changes	2024-07-22 14:30:18 +02:00
Fisch	186bfbcf99	update for wheelcircumference correction	2024-07-22 14:29:55 +02:00
Fisch	e20a3eb040	recalibrate throttle and minor display fixes	2024-07-22 14:29:36 +02:00
Fisch	b3ab5841a7	remove first and last values of travel	2024-07-22 10:55:36 +02:00
Fisch	a575fb009d	recalibrate throttle lever	2024-07-22 10:50:00 +02:00
Fisch	4ef6e7448b	fix tank steering in standstill	2024-07-20 01:56:48 +02:00
Fisch	7734c41809	fix warning in print function	2024-07-19 22:57:12 +02:00
Fisch	07d6aa5e3e	add minvoltage and voltage to display	2024-07-17 00:02:48 +02:00
Fisch	890daa9702	use pandas csv reader and use subplots	2024-07-16 23:51:28 +02:00
Fisch	a68df6afab	change led gauge min voltage to 3.3V	2024-07-16 23:49:45 +02:00
Fisch	16dfabc6ba	fix logging file first row zero values	2024-07-16 23:47:58 +02:00
Fisch	e31ccb1813	add name main check	2024-07-16 22:36:28 +02:00
Fisch	64bd6f79f5	change tanksteering and add standstill tanksteering	2024-07-16 22:34:54 +02:00
Fisch	24a5a97cfb	add automatic consecuitve filename adding	2024-07-15 19:24:19 +02:00
Fisch	3c5cd0b1c3	fix tank steering safety check	2024-07-14 16:46:33 +02:00
Fisch	156455f363	improve disable logging check and add experimental tanksteering	2024-07-14 12:30:20 +02:00
Fisch	a8d43211e9	add slow acceleration in slower modes	2024-07-14 11:12:08 +02:00
Fisch	2e557af21f	refactor temperature sensor variable	2024-07-14 10:54:49 +02:00
interfisch	8a3fdaa574	Update controller_teensy/README.md	2024-07-14 08:39:58 +00:00
interfisch	8ebfef2df4	Update controller_teensy/README.md	2024-07-14 08:39:12 +00:00
Fisch	b2245f83f6	add command documentation	2024-07-14 10:34:29 +02:00
Fisch	e11ec8c5f5	project file update	2024-07-13 23:40:53 +02:00
Fisch	b416250d47	add transmission protocol for sd card over serial	2024-07-13 23:34:14 +02:00
Fisch	b68bc580cc	fix debug output	2024-07-13 21:16:57 +02:00
Fisch	abdff38ae4	change display ui	2024-07-13 20:58:27 +02:00
Fisch	f5cfe91fcb	add sensor serial command	2024-07-13 19:19:10 +02:00
Fisch	71e9fd7d4f	add logging disabled when connected via usb	2024-07-13 18:18:58 +02:00
Fisch	7b757c3c0b	change fit for spring plate	2024-07-13 17:26:08 +02:00
Fisch	ff8c11eb1b	add sd card read and delete commands	2024-07-13 01:30:20 +02:00
Fisch	841ab4f7e9	add gitignore	2024-07-12 23:51:12 +02:00
Fisch	ec9e9f09ee	add start button debug display output	2024-07-12 21:44:40 +02:00
Fisch	9c1fd5f7dd	change led pin to match pcb	2024-07-12 19:57:43 +02:00
Fisch	e023b45118	move 1wire pullup resistor to pcb	2024-07-12 19:37:27 +02:00
Fisch	80c83c45b9	change comments	2024-07-10 00:32:53 +02:00