Fixes Skateboard Variant
- fixed to RIGHT cable - fixed braking relative to the direction of motion - adjusted the braking amount to -400
This commit is contained in:
EmanuelFeru
parent
733fd80362
commit
290ed30765
32
Inc/config.h
32
Inc/config.h
|
|
@ -324,11 +324,6 @@
|
|||
*/
|
||||
#define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
|
||||
// #define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
|
||||
#ifdef CONTROL_PWM_RIGHT
|
||||
#define DEBUG_SERIAL_USART2 // left sensor cable debug
|
||||
#else
|
||||
#define DEBUG_SERIAL_USART3 // right sensor cable debug
|
||||
#endif
|
||||
#define PWM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
|
||||
// Min / Max values of each channel (use DEBUG to determine these values)
|
||||
#define PWM_CH1_MAX 1000 // (0 - 1000)
|
||||
|
|
@ -342,8 +337,13 @@
|
|||
// #define INVERT_L_DIRECTION
|
||||
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
|
||||
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
|
||||
#ifdef CONTROL_PWM_RIGHT
|
||||
#define DEBUG_SERIAL_USART2 // left sensor cable debug
|
||||
#else
|
||||
#define DEBUG_SERIAL_USART3 // right sensor cable debug
|
||||
#endif
|
||||
// ############################# END OF VARIANT_PPM SETTINGS ############################
|
||||
#endif
|
||||
// ############################# END OF VARIANT_PWM SETTINGS ############################
|
||||
|
||||
|
||||
|
||||
|
|
@ -433,7 +433,7 @@
|
|||
// ############################# END OF VARIANT_TRANSPOTTER SETTINGS ########################
|
||||
|
||||
|
||||
// ################################# VARIANT_PWM SETTINGS ##############################
|
||||
// ################################# VARIANT_SKATEBOARD SETTINGS ##############################
|
||||
#ifdef VARIANT_SKATEBOARD
|
||||
/* ###### CONTROL VIA RC REMOTE ######
|
||||
* right sensor board cable. Connect PB10 to channel 1 and PB11 to channel 2 on receiver.
|
||||
|
|
@ -441,20 +441,15 @@
|
|||
*/
|
||||
#undef CTRL_MOD_REQ
|
||||
#define CTRL_MOD_REQ TRQ_MODE // SKATEBOARD works best in TORQUE Mode
|
||||
#define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
|
||||
// #define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
|
||||
#ifdef CONTROL_PWM_RIGHT
|
||||
#define DEBUG_SERIAL_USART2 // left sensor cable debug
|
||||
#else
|
||||
#define DEBUG_SERIAL_USART3 // right sensor cable debug
|
||||
#endif
|
||||
// #define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
|
||||
#define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
|
||||
#define PWM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
|
||||
// Min / Max values of each channel (use DEBUG to determine these values)
|
||||
#define PWM_CH1_MAX 1000 // (0 - 1000)
|
||||
#define PWM_CH1_MIN -1000 // (-1000 - 0)
|
||||
#define PWM_CH2_MAX 700 // (0 - 1000)
|
||||
#define PWM_CH2_MIN -800 // (-1000 - 0)
|
||||
#define PWM_CH2_OUT_MIN -150 // (-1000 - 0) Change this value to adjust the braking amount
|
||||
#define PWM_CH2_OUT_MIN -400 // (-1000 - 0) Change this value to adjust the braking amount
|
||||
#define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
|
||||
#define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
|
||||
#define STEER_COEFFICIENT 0 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0.
|
||||
|
|
@ -463,8 +458,13 @@
|
|||
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
|
||||
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
|
||||
// #define STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode.
|
||||
#ifdef CONTROL_PWM_RIGHT
|
||||
#define DEBUG_SERIAL_USART2 // left sensor cable debug
|
||||
#else
|
||||
#define DEBUG_SERIAL_USART3 // right sensor cable debug
|
||||
#endif
|
||||
// ############################# END OF VARIANT_PPM SETTINGS ############################
|
||||
#endif
|
||||
// ############################# END OF VARIANT_SKATEBOARD SETTINGS ############################
|
||||
|
||||
|
||||
|
||||
|
|
|
|||
|
|
@ -241,8 +241,12 @@ int main(void) {
|
|||
#endif
|
||||
|
||||
#ifdef VARIANT_SKATEBOARD
|
||||
if (cmd2 < 0) { // When Throttle pedal is negative, it acts as brake. This condition is to make sure it goes to 0 as we reach standstill (to avoid Reverse driving)
|
||||
if (cmd2 < 0) { // When Throttle is negative, it acts as brake. This condition is to make sure it goes to 0 as we reach standstill (to avoid Reverse driving)
|
||||
if (speedAvg > 0) { // Make sure the braking is opposite to the direction of motion
|
||||
cmd2 = (int16_t)(( cmd2 * speedBlend) >> 15);
|
||||
} else {
|
||||
cmd2 = (int16_t)((-cmd2 * speedBlend) >> 15);
|
||||
}
|
||||
}
|
||||
#endif
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue