make nrf coefficients adjustable via remote
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@ -68,8 +68,8 @@ bool button_down_click=false;
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float speed_coefficient_nrf=1.0; // higher value == stronger
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float steer_coefficient_nrf=0.5; // higher value == stronger
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#define SPEED_COEFFICIENT_GT 1 // higher value == stronger
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#define STEER_COEFFICIENT_GT 0.5 // higher value == stronger
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float speed_coefficient_gt=1.0; // higher value == stronger
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float steer_coefficient_gt=0.5; // higher value == stronger
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unsigned long watchdogtimer=0; //set to current millis everytime new good control input is calculated
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@ -462,9 +462,11 @@ void loop() {
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}else if ((lastnrfdata.commands & (1 << 2))>>0) { //up
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setup_directon_press_up = true;
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Serial.println("RF Button Up");
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speed_coefficient_nrf=1.0;
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}else if ((lastnrfdata.commands & (1 << 3))>>0) { //down
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setup_directon_press_down = true;
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Serial.println("RF Button Down");
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speed_coefficient_nrf=0.5;
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}else if ((lastnrfdata.commands & (1 << 4))>>0) { //right
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setup_directon_press_right = true;
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Serial.println("RF Button Right");
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@ -520,8 +522,8 @@ void loop() {
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//calculate speed l and r from speed and steer
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int16_t _out_speedl,_out_speedr;
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_out_speedl = constrain(set_speed * speed_coefficient_nrf + set_steer * steer_coefficient_nrf, -1500, 1500);
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_out_speedr = constrain(set_speed * speed_coefficient_nrf - set_steer * steer_coefficient_nrf, -1500, 1500);
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_out_speedl = constrain(set_speed * speed_coefficient_nrf + set_steer * speed_coefficient_nrf * steer_coefficient_nrf, -1500, 1500);
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_out_speedr = constrain(set_speed * speed_coefficient_nrf - set_steer * speed_coefficient_nrf * steer_coefficient_nrf, -1500, 1500);
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esc.setSpeed(_out_speedl,_out_speedr);
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}
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}//if pastpacket not ok, keep last out_steer and speed values until disarmed
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@ -591,8 +593,8 @@ void loop() {
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if (loopmillis - last_controlupdate > CONTROLUPDATEPERIOD) {
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last_controlupdate = loopmillis;
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int16_t _out_speedl,_out_speedr;
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_out_speedl = constrain(set_speed * SPEED_COEFFICIENT_GT + set_steer * STEER_COEFFICIENT_GT, -1000, 1000)*safetymultiplier;
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_out_speedr = constrain(set_speed * SPEED_COEFFICIENT_GT - set_steer * STEER_COEFFICIENT_GT, -1000, 1000)*safetymultiplier;
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_out_speedl = constrain(set_speed * speed_coefficient_gt + set_steer * speed_coefficient_gt * steer_coefficient_gt, -1000, 1000)*safetymultiplier;
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_out_speedr = constrain(set_speed * speed_coefficient_gt - set_steer * speed_coefficient_gt * steer_coefficient_gt, -1000, 1000)*safetymultiplier;
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esc.setSpeed(_out_speedl,_out_speedr);
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}
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}
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@ -614,8 +616,8 @@ void loop() {
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set_speed = set_speed*(1.0-filter_stop_set_speed); //simple Filter
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set_steer = set_steer*(1.0-filter_stop_set_steer);
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int16_t _out_speedl,_out_speedr;
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_out_speedl = constrain(set_speed * speed_coefficient_nrf + set_steer * steer_coefficient_nrf, -1500, 1500);
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_out_speedr = constrain(set_speed * speed_coefficient_nrf - set_steer * steer_coefficient_nrf, -1500, 1500);
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_out_speedl = constrain(set_speed * speed_coefficient_nrf + set_steer * speed_coefficient_nrf * steer_coefficient_nrf, -1500, 1500);
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_out_speedr = constrain(set_speed * speed_coefficient_nrf - set_steer * speed_coefficient_nrf * steer_coefficient_nrf, -1500, 1500);
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esc.setSpeed(_out_speedl,_out_speedr);
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}
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}
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@ -630,8 +632,8 @@ void loop() {
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set_speed = set_speed*(1.0-filter_stop_set_speed); //simple Filter
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set_steer = set_steer*(1.0-filter_stop_set_steer);
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int16_t _out_speedl,_out_speedr;
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_out_speedl = constrain(set_speed * speed_coefficient_nrf + set_steer * steer_coefficient_nrf, -1500, 1500);
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_out_speedr = constrain(set_speed * speed_coefficient_nrf - set_steer * steer_coefficient_nrf, -1500, 1500);
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_out_speedl = constrain(set_speed * speed_coefficient_nrf + set_steer * speed_coefficient_nrf * steer_coefficient_nrf, -1500, 1500);
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_out_speedr = constrain(set_speed * speed_coefficient_nrf - set_steer * speed_coefficient_nrf * steer_coefficient_nrf, -1500, 1500);
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esc.setSpeed(_out_speedl,_out_speedr);
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}
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}
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@ -862,6 +864,26 @@ void updateInputs(unsigned long loopmillis) {
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}
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}
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break;
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case 1: // speed_coefficient_gt
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if (button_inc_click) {
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speed_coefficient_gt+=0.05;
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speed_coefficient_gt = constrain(speed_coefficient_gt, 0.05, 1.0);
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}
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if (button_dec_click) {
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speed_coefficient_gt-=0.05;
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speed_coefficient_gt = constrain(speed_coefficient_gt, 0.05, 1.0);
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}
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break;
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case 2: // steer_coefficient_gt
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if (button_inc_click) {
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steer_coefficient_gt+=0.05;
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steer_coefficient_gt = constrain(steer_coefficient_gt, 0.05, 1.0);
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}
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if (button_dec_click) {
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steer_coefficient_gt-=0.05;
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steer_coefficient_gt = constrain(steer_coefficient_gt, 0.05, 1.0);
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}
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break;
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}
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@ -1070,10 +1092,10 @@ void display_show_menu() {
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display.print(F("# Page 2 / ")); display.print(MENU_PAGES-1); display.print(F(" GT #")); display.println();
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break;
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case 1:
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display.print(F("speed_coeff_gt=")); display.println(SPEED_COEFFICIENT_GT,2);
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display.print(F("speed_coeff_gt=")); display.println(speed_coefficient_gt,2);
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break;
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case 2:
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display.print(F("steer_coeff_gt=")); display.println(STEER_COEFFICIENT_GT,2);
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display.print(F("steer_coeff_gt=")); display.println(steer_coefficient_gt,2);
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break;
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case 3:
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