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add display menu parameters for gametrak

This commit is contained in:
interfisch 2022-05-22 16:44:52 +02:00
parent 932f4ed95a
commit 1b8b036e66
1 changed files with 64 additions and 7 deletions
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71
hoverbrettctrl/src/main.cpp
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@ -22,7 +22,7 @@ uint8_t displaymode=0;
#define DISPLAY_STATS3 2
#define DISPLAY_MENU 3
uint8_t menu_entrypos=0;
#define MENU_ENTRIES 3 // max id is MENU_ENTRIES-1
#define MENU_ENTRIES 7 // max id is MENU_ENTRIES-1
uint8_t error = 0;
#define IMU_NO_CHANGE 2 //IMU values did not change for too long
@ -120,9 +120,9 @@ uint16_t gt_length_set=1000; //set length to keep [mm]
float gt_speed_p=0.7; //value to multipy difference [mm] with -> out_speed
float gt_speedbackward_p=0.7;
float gt_steer_p=2.0;
#define GT_SPEED_LIMIT 400 //maximum out_speed value +
#define GT_SPEEDBACKWARD_LIMIT 100//maximum out_speed value (for backward driving) -
#define GT_STEER_LIMIT 300 //maximum out_steer value +-
int16_t gt_speed_limit=400; //maximum out_speed value +
int16_t gt_backward_speed_limit=100; //maximum out_speed value (for backward driving) -
int16_t gt_steer_limit=300; //maximum out_steer value +-
#define GT_LENGTH_MAXIMUMDIFFBACKWARD -250 //[mm]. if gt_length_set=1000 and GT_LENGTH_MAXIMUMDIFFBACKWARD=-200 then only drives backward if lenght is greater 800
@ -433,13 +433,13 @@ void loop() {
_gt_length_diff=0; //threshold
}
set_steer=constrain((int16_t)(-gt_horizontal*gt_steer_p),-GT_STEER_LIMIT,GT_STEER_LIMIT); //steer positive is left //gt_horizontal left is negative
set_steer=constrain((int16_t)(-gt_horizontal*gt_steer_p),-gt_steer_limit,gt_steer_limit); //steer positive is left //gt_horizontal left is negative
if (_gt_length_diff>0) { //needs to drive forward
set_speed = constrain((int16_t)(_gt_length_diff*gt_speed_p),0,GT_SPEED_LIMIT);
set_speed = constrain((int16_t)(_gt_length_diff*gt_speed_p),0,gt_speed_limit);
}else{ //drive backward
if (_gt_length_diff > GT_LENGTH_MAXIMUMDIFFBACKWARD){ //only drive if not pulled back too much
set_speed = constrain((int16_t)(_gt_length_diff*gt_speedbackward_p),-GT_SPEEDBACKWARD_LIMIT,0);
set_speed = constrain((int16_t)(_gt_length_diff*gt_speedbackward_p),-gt_backward_speed_limit,0);
}else{
set_speed = 0; //stop
set_steer = 0;
@ -582,6 +582,50 @@ void updateInputs(unsigned long loopmillis) {
filter_nrf_set_steer = constrain(filter_nrf_set_steer, 0.01, 1.0);
}
break;
case 3:
if (button_inc_click) {
gt_speed_p+=0.05;
gt_speed_p = constrain(gt_speed_p, 0.05, 5.0);
}
if (button_dec_click) {
gt_speed_p-=0.05;
gt_speed_p = constrain(gt_speed_p, 0.05, 5.0);
}
break;
case 4:
if (button_inc_click) {
gt_steer_p+=0.05;
gt_steer_p = constrain(gt_steer_p, 0.05, 5.0);
}
if (button_dec_click) {
gt_steer_p-=0.05;
gt_steer_p = constrain(gt_steer_p, 0.05, 5.0);
}
break;
case 5:
if (button_inc_click) {
gt_speed_limit+=50;
gt_speed_limit = constrain(gt_speed_limit, 50, 1000);
}
if (button_dec_click) {
gt_speed_limit-=50;
gt_speed_limit = constrain(gt_speed_limit, 50, 1000);
}
break;
case 6:
if (button_inc_click) {
gt_steer_limit+=50;
gt_steer_limit = constrain(gt_steer_limit, 50, 1000);
}
if (button_dec_click) {
gt_steer_limit-=50;
gt_steer_limit = constrain(gt_steer_limit, 50, 1000);
}
break;
}
break;
@ -711,7 +755,20 @@ void display_show_menu() {
case 2:
display.print(F("Fltr str=")); display.println(filter_nrf_set_steer);
break;
case 3:
display.print(F("gt_speed_p=")); display.println(gt_speed_p);
break;
case 4:
display.print(F("gt_steer_p=")); display.println(gt_steer_p);
break;
case 5:
display.print(F("gt_speed_limit=")); display.println(gt_speed_limit);
break;
case 6:
display.print(F("gt_steer_limit=")); display.println(gt_steer_limit);
break;
}
}
display.display(); // Show initial text