Hovercar minor update
- put by default TORQUE mode. Hovercar works best in Torque mode - made the brake pedal more aggressive. Gives a better braking feel.
This commit is contained in:
parent
3fd6c057ea
commit
9d6cec8889
|
@ -298,6 +298,8 @@
|
||||||
|
|
||||||
// ############################ VARIANT_HOVERCAR SETTINGS ############################
|
// ############################ VARIANT_HOVERCAR SETTINGS ############################
|
||||||
#ifdef VARIANT_HOVERCAR
|
#ifdef VARIANT_HOVERCAR
|
||||||
|
#undef CTRL_MOD_REQ
|
||||||
|
#define CTRL_MOD_REQ 3 // HOVERCAR works best in TORQUE Mode
|
||||||
#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
|
#define CONTROL_ADC // use ADC as input. disable CONTROL_SERIAL_USART2, FEEDBACK_SERIAL_USART2, DEBUG_SERIAL_USART2!
|
||||||
#define ADC_PROTECT_ENA // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
|
#define ADC_PROTECT_ENA // ADC Protection Enable flag. Use this flag to make sure the ADC is protected when GND or Vcc wire is disconnected
|
||||||
#define ADC_PROTECT_TIMEOUT 30 // ADC Protection: number of wrong / missing input commands before safety state is taken
|
#define ADC_PROTECT_TIMEOUT 30 // ADC Protection: number of wrong / missing input commands before safety state is taken
|
||||||
|
|
|
@ -205,10 +205,10 @@ int main(void) {
|
||||||
#ifdef VARIANT_HOVERCAR
|
#ifdef VARIANT_HOVERCAR
|
||||||
// Calculate speed Blend, a number between [0, 1] in fixdt(0,16,15)
|
// Calculate speed Blend, a number between [0, 1] in fixdt(0,16,15)
|
||||||
uint16_t speedBlend;
|
uint16_t speedBlend;
|
||||||
speedBlend = (uint16_t)(((CLAMP(speedAvgAbs,30,90) - 30) << 15) / 60); // speedBlend [0,1] is within [30 rpm, 90rpm]
|
speedBlend = (uint16_t)(((CLAMP(speedAvgAbs,10,60) - 10) << 15) / 50); // speedBlend [0,1] is within [10 rpm, 60rpm]
|
||||||
|
|
||||||
// Check if Hovercar is physically close to standstill to enable Double tap detection on Brake pedal for Reverse functionality
|
// Check if Hovercar is physically close to standstill to enable Double tap detection on Brake pedal for Reverse functionality
|
||||||
if (speedAvgAbs < 20) {
|
if (speedAvgAbs < 60) {
|
||||||
multipleTapDet(cmd1, HAL_GetTick(), &MultipleTapBreak); // Break pedal in this case is "cmd1" variable
|
multipleTapDet(cmd1, HAL_GetTick(), &MultipleTapBreak); // Break pedal in this case is "cmd1" variable
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
Loading…
Reference in New Issue