775 lines
24 KiB
C++
775 lines
24 KiB
C++
#include <Arduino.h>
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#define SERIAL_BAUD 115200 // [-] Baud rate for built-in Serial (used for the Serial Monitor)
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#include <OneButton.h>
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#include <SPI.h>
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#include <Wire.h>
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#include <Adafruit_GFX.h>
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#include <Adafruit_SSD1306.h>
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//128 x 64 px
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#define SCREEN_WIDTH 128
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#define SCREEN_HEIGHT 64
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#define SCREEN_ADDRESS 0x3C
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#define OLED_RESET -1 // Reset pin # (or -1 if sharing Arduino reset pin)
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Adafruit_SSD1306 display(SCREEN_WIDTH, SCREEN_HEIGHT, &Wire, OLED_RESET);
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#define DISPLAYUPDATE_INTERVAL 200
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bool flag_updatedisplay=false;
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uint8_t displaymode=0;
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#define DISPLAY_STATS 0
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#define DISPLAY_STATS2 1
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#define DISPLAY_STATS3 2
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#define DISPLAY_MENU 3
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uint8_t menu_entrypos=0;
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#define MENU_ENTRIES 7 // max id is MENU_ENTRIES-1
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uint8_t error = 0;
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#define IMU_NO_CHANGE 2 //IMU values did not change for too long
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#include "hoverboard-esc-serial-comm.h"
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ESCSerialComm esc(Serial2);
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//Serial1 = TX1=1, RX1=0
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//Serial2 = TX2=10, RX2=9
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//Serial3 = TX3=8, RX3=7
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#define PIN_BUTTON_UP 3
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#define PIN_BUTTON_INC 4
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#define PIN_BUTTON_DEC 5
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#define PIN_BUTTON_DOWN 6
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OneButton btn_up = OneButton(PIN_BUTTON_UP, true, true); // Input pin for the button, Button is active LOW, Enable internal pull-up resistor
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OneButton btn_inc = OneButton(PIN_BUTTON_INC, true, true);
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OneButton btn_dec = OneButton(PIN_BUTTON_DEC, true, true);
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OneButton btn_down = OneButton(PIN_BUTTON_DOWN, true, true);
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//flags
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bool button_up_click=false;
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bool button_inc_click=false;
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bool button_dec_click=false;
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bool button_down_click=false;
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#define PIN_GAMETRAK_LENGTH_A A6 //A6=20
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#define PIN_GAMETRAK_LENGTH_B A7 //A7=21
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#define PIN_GAMETRAK_VERTICAL A8 //A8=22
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#define PIN_GAMETRAK_HORIZONTAL A9 //A9=23
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long last_adcupdated=0;
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#define ADC_UPDATEPERIOD 10 //in ms
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#define CONTROLUPDATEPERIOD 10
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long last_controlupdate = 0;
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float filter_nrf_set_speed=0.02; //higher value, faster response. depends on CONTROLUPDATEPERIOD
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float filter_nrf_set_steer=0.06;
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#define GT_LENGTH_MIN 200 //minimum length for stuff to start happen
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#define GT_LENGTH_1_OFFSET -22.5
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#define GT_LENGTH_1_SCALE 2.5
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#define GT_LENGTH_2_OFFSET 563.6
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#define GT_LENGTH_2_SCALE 0.45
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#define GT_LENGTH_CROSSOVERADC ((GT_LENGTH_2_OFFSET-GT_LENGTH_1_OFFSET)/(GT_LENGTH_1_SCALE-GT_LENGTH_2_SCALE)) //crossover point from adc, where first and second lines cross
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#define GT_LENGTH_CROSSOVER_FEATHER 76.0 //how much adc change in both directions should be smoothed when switching between first and second line
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#define GT_LENGTH_MAXLENGTH 2000 //maximum length in [mm]. maximum string length is around 2m80
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#define GT_LENGTH_ADC_MAXDIFF 127 //maximum adc value difference between A and B poti. Used to detect scratching poti. during length calibration was 57
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int raw_length_maxdiff=0;
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//TODO: implement error for poti maxdiff
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uint16_t gt_length=0; //0=rolled up, 1unit = 1mm
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/* calibration 20220410
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lenght[mm], adc
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0,9
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100,52
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200,86
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300,124
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400,165
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500,212
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600,286
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700,376
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800,520
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900,746
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1000,984
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1100,1198
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1200,1404
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1300,1628
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1400,1853
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1500,2107
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1600,2316
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1700,2538
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1800,2730
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1900,2942
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2000,3150
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*/
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#define GT_VERTICAL_CENTER 2048 //adc value for center position
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#define GT_VERTICAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
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int8_t gt_vertical=0; //0=center. joystick can rotate +-30 degrees. -127 = -30 deg
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//left = -30 deg, right= 30deg
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#define GT_HORIZONTAL_CENTER 2048 //adc value for center position
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#define GT_HORIZONTAL_RANGE 2047 //adc value difference from center to maximum (30 deg)
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int8_t gt_horizontal=0; //0=center
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uint16_t gt_length_set=1000; //set length to keep [mm]
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#define GT_LENGTH_MINDIFF 10 //[mm] threshold, do not move within gt_length_set-GT_LENGTH_MINDIFF and gt_length_set+GT_LENGTH_MINDIFF
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float gt_speed_p=0.7; //value to multipy difference [mm] with -> out_speed
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float gt_speedbackward_p=0.7;
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float gt_steer_p=2.0;
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int16_t gt_speed_limit=500; //maximum out_speed value +
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int16_t gt_backward_speed_limit=100; //maximum out_speed value (for backward driving) -
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int16_t gt_steer_limit=300; //maximum out_steer value +-
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#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
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#include <SPI.h>
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#include "nRF24L01.h"
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#include "RF24.h"
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RF24 radio(14, 15); //ce, cs
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//SCK D13 (Pro mini), A5 (bluepill),13 (teensy32)
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//Miso D12 (Pro mini), A6 (bluepill),12 (teensy32)
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//Mosi D11 (Pro mini), A7 (bluepill),11 (teensy32)
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// Radio pipe addresses for the 2 nodes to communicate.
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const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL };
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#define NRF24CHANNEL 75
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struct nrfdata {
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uint8_t steer;
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uint8_t speed;
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uint8_t commands; //bit 0 set = motor enable
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uint8_t checksum;
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};
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nrfdata lastnrfdata;
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long last_nrfreceive = 0; //last time values were received and checksum ok
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unsigned long nrf_delay = 0;
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unsigned long last_nrfreceive_delay=0;
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#define MAX_NRFDELAY 100 //ms. maximum time delay at which vehicle will disarm
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boolean radiosendOk=false;
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//command variables
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boolean motorenabled = false; //set by nrfdata.commands
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long last_send = 0;
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int16_t set_speed = 0;
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int16_t set_steer = 0;
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uint8_t out_checksum = 0; //0= disable motors, 255=reserved, 1<=checksum<255
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#define NRFDATA_CENTER 127
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//boolean armed = false;
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boolean lastpacketOK = false;
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//Gametrak
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//boolean armed_gt = false;
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uint8_t controlmode=0;
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#define MODE_DISARMED 0
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#define MODE_RADIONRF 1
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#define MODE_GAMETRAK 2
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void updateInputs(unsigned long loopmillis);
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void updateDisplay(unsigned long loopmillis);
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void display_show_stats();
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void display_show_stats2();
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void display_show_stats3();
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void display_show_menu();
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void setup() {
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Serial.begin(SERIAL_BAUD); //Debug and Program
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esc.init();
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analogReadResolution(12);
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pinMode(PIN_GAMETRAK_LENGTH_A, INPUT_PULLUP);
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pinMode(PIN_GAMETRAK_LENGTH_B, INPUT_PULLUP);
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pinMode(PIN_GAMETRAK_VERTICAL, INPUT_PULLUP);
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pinMode(PIN_GAMETRAK_HORIZONTAL, INPUT_PULLUP);
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btn_up.attachClick([]() {
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button_up_click=true;
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});
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btn_down.attachClick([]() {
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button_down_click=true;
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});
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btn_inc.attachClick([]() {
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button_inc_click=true;
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});
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btn_dec.attachClick([]() {
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button_dec_click=true;
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});
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Wire.begin();
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// SSD1306_SWITCHCAPVCC = generate display voltage from 3.3V internally
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if(!display.begin(SSD1306_SWITCHCAPVCC, SCREEN_ADDRESS)) {
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Serial.println(F("SSD1306 allocation failed"));
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for(;;); // Don't proceed, loop forever
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}
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// Show initial display buffer contents on the screen --
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// the library initializes this with an Adafruit splash screen.
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display.display();
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(10, 0);
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display.println(F("Radio Init"));
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display.display(); // Show initial text
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radio.begin();
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Serial.println("RF24 set rate");
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radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
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//radio.setDataRate( RF24_1MBPS );
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//Serial.println("set channel");
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radio.setChannel(NRF24CHANNEL); //0 to 124 (inclusive)
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//Serial.println("set retries and payload");
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radio.setRetries(15, 15); // optionally, increase the delay between retries & # of retries
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radio.setPayloadSize(8); // optionally, reduce the payload size. seems to improve reliability
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//Serial.println("open pipe");
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radio.openWritingPipe(pipes[0]); //write on pipe 0
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radio.openReadingPipe(1, pipes[1]); //read on pipe 1
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Serial.println("start listening");
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radio.startListening();
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display.clearDisplay();
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display.setTextSize(2); // Draw 2X-scale text
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(10, 0);
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display.println(F("Started"));
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display.display(); // Show initial text
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}
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void loop() {
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unsigned long loopmillis=millis();
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btn_up.tick();
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btn_inc.tick();
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btn_dec.tick();
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btn_down.tick();
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if (loopmillis - last_adcupdated > ADC_UPDATEPERIOD) { //update analog readings
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int raw_length_a=analogRead(PIN_GAMETRAK_LENGTH_A);
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int raw_length_b=analogRead(PIN_GAMETRAK_LENGTH_B);
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raw_length_maxdiff=max(raw_length_maxdiff,abs(raw_length_a-raw_length_b));
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int raw_length=(raw_length_a+raw_length_b)/2;
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uint16_t gt_length_1 = GT_LENGTH_1_OFFSET+raw_length*GT_LENGTH_1_SCALE;
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uint16_t gt_length_2 = GT_LENGTH_2_OFFSET+raw_length*GT_LENGTH_2_SCALE;
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double crossovermapping=constrain(((raw_length-GT_LENGTH_CROSSOVERADC)/GT_LENGTH_CROSSOVER_FEATHER )/2.0+0.5, 0.0,1.0); //0 for first, 1 for second
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gt_length = constrain( gt_length_1*(1-crossovermapping) + gt_length_2*crossovermapping , 0,GT_LENGTH_MAXLENGTH);
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if (gt_length<=GT_LENGTH_MIN){
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gt_length=0; //if below minimum measurable length set to 0mm
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}
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gt_vertical = constrain(map(analogRead(PIN_GAMETRAK_VERTICAL)-((int16_t)GT_VERTICAL_CENTER), -GT_VERTICAL_RANGE,+GT_VERTICAL_RANGE,-127,127),-127,127); //left negative
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gt_horizontal = constrain(map(analogRead(PIN_GAMETRAK_HORIZONTAL)-((int16_t)GT_HORIZONTAL_CENTER), -GT_HORIZONTAL_RANGE,+GT_HORIZONTAL_RANGE,-127,127),-127,127); //down negative
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last_adcupdated = millis();
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/*
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Serial.print("gt_length=");
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Serial.print(gt_length);
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Serial.print(", gt_vertical=");
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Serial.print(gt_vertical);
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Serial.print(", gt_horizontal=");
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Serial.print(gt_horizontal);
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Serial.print(" pl=");
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Serial.print(raw_length_a);
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Serial.print(", ");
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Serial.print(raw_length_b);
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Serial.print(", pv=");
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Serial.print(analogRead(PIN_GAMETRAK_VERTICAL));
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Serial.print(", ph=");
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Serial.print(analogRead(PIN_GAMETRAK_HORIZONTAL));
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Serial.print(" Ldiff=");
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Serial.println(abs(raw_length_a-raw_length_b));
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*/
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/*
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static int _rawlengtharray[40];
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static int _rawlapos=0;
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_rawlengtharray[_rawlapos++]=raw_length;
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_rawlapos%=40;
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int rawlengthfilter=0;
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for (int p=0;p<40;p++) {
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rawlengthfilter+=_rawlengtharray[p];
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}
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rawlengthfilter/=40;
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static int maxldiff=0;
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maxldiff=max(maxldiff,abs(raw_length_a-raw_length_b));
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Serial.print("");
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Serial.print(rawlengthfilter);
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Serial.print(" maxldiff=");
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Serial.println(maxldiff);*/
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}
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//NRF24
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nrf_delay = loopmillis - last_nrfreceive; //update nrf delay
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if ( radio.available() )
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{
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//Serial.println("radio available ...");
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lastpacketOK = false; //initialize with false, if checksum ok gets set to true
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//digitalWrite(PIN_LED, !digitalRead(PIN_LED));
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radio.read( &lastnrfdata, sizeof(nrfdata) );
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if (lastnrfdata.speed == NRFDATA_CENTER && lastnrfdata.steer == NRFDATA_CENTER) { //arm only when centered
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controlmode = MODE_RADIONRF;//set radionrf mode at first received packet
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}
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uint8_t calcchecksum = (uint8_t)((lastnrfdata.steer + 3) * (lastnrfdata.speed + 13));
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if (lastnrfdata.checksum == calcchecksum) { //checksum ok?
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lastpacketOK = true;
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last_nrfreceive_delay=loopmillis-last_nrfreceive; //for display purpose
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last_nrfreceive = loopmillis;
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//parse commands
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motorenabled = (lastnrfdata.commands & (1 << 0))>>0; //check bit 0
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}
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}
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if (controlmode == MODE_RADIONRF && nrf_delay >= MAX_NRFDELAY) { //too long since last sucessful nrf receive
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controlmode = MODE_DISARMED;
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#ifdef DEBUG
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Serial.println("nrf_delay>=MAX_NRFDELAY, disarmed!");
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#endif
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}
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if (controlmode == MODE_RADIONRF) { //is armed in nrf mode
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if (lastpacketOK) { //if lastnrfdata is valid
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if (loopmillis - last_controlupdate > CONTROLUPDATEPERIOD) {
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last_controlupdate = loopmillis;
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//out_speed=(int16_t)( (lastnrfdata.y-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
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//out_steer=(int16_t)( -(lastnrfdata.x-TRACKPOINT_CENTER)*1000/TRACKPOINT_MAX );
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int16_t new_set_speed = (int16_t)( ((int16_t)(lastnrfdata.speed) - NRFDATA_CENTER) * 1000 / 127 ); //-1000 to 1000
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int16_t new_set_steer = (int16_t)( ((int16_t)(lastnrfdata.steer) - NRFDATA_CENTER) * 1000 / 127 );
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set_speed = set_speed*(1.0-filter_nrf_set_speed) + new_set_speed*filter_nrf_set_speed; //simple Filter
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set_steer = set_steer*(1.0-filter_nrf_set_steer) + new_set_steer*filter_nrf_set_steer;
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//calculate speed l and r from speed and steer
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#define SPEED_COEFFICIENT_NRF 1 // higher value == stronger
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#define STEER_COEFFICIENT_NRF 0.5 // higher value == stronger
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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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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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#ifdef DEBUG
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if (!lastpacketOK) {
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Serial.println("Armed but packet not ok");
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}
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#endif
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}
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if (controlmode==MODE_DISARMED) { //check if gametrak can be armed
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if (gt_length>gt_length_set && gt_length<gt_length_set+10) { //is in trackable length
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controlmode=MODE_GAMETRAK; //enable gametrak mode
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Serial.println("Enable Gametrak");
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}
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}else if (controlmode==MODE_GAMETRAK){ //gametrak control active and not remote active
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//Gametrak Control Code
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motorenabled=true;
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if (gt_length<=GT_LENGTH_MIN){ //let go
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//Serial.println("gametrak released");
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controlmode=MODE_DISARMED;
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motorenabled=false;
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}
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int16_t _gt_length_diff = gt_length-gt_length_set; //positive if needs to drive forward
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if ((_gt_length_diff>-GT_LENGTH_MINDIFF) && (_gt_length_diff<GT_LENGTH_MINDIFF)){ //minimum difference to drive
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_gt_length_diff=0; //threshold
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}
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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
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if (_gt_length_diff>0) { //needs to drive forward
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set_speed = constrain((int16_t)(_gt_length_diff*gt_speed_p),0,gt_speed_limit);
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}else{ //drive backward
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if (_gt_length_diff > GT_LENGTH_MAXIMUMDIFFBACKWARD){ //only drive if not pulled back too much
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set_speed = constrain((int16_t)(_gt_length_diff*gt_speedbackward_p),-gt_backward_speed_limit,0);
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}else{
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set_speed = 0; //stop
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set_steer = 0;
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}
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}
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static float safetymultiplier=1.0; //value to reduce output speed if gametrack is pointing too far down or up (string might be behind vehicle)
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#define GT_SAFETY_THRESHOLD_H 120 //above which value (abs) safety slowdown should start
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#define GT_SAFETY_THRESHOLD_V 120
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#define SAFETYMULTIPLIER_UPDATE_INTERVAL 100
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#define SAFETYMULTIPLIER_CHANGE_TIME_DOWN 2.0 //Time how long it should take to go from 100% to 0% when in safety slowdown
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#define SAFETYMULTIPLIER_CHANGE_TIME_UP 1.0
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static unsigned long last_safetymultiplier_update=0;
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if (loopmillis-last_safetymultiplier_update > SAFETYMULTIPLIER_UPDATE_INTERVAL) {
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if (abs(gt_vertical)>GT_SAFETY_THRESHOLD_V || abs(gt_horizontal)>GT_SAFETY_THRESHOLD_H) {
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safetymultiplier-=1.0/(1000.0/SAFETYMULTIPLIER_UPDATE_INTERVAL)/SAFETYMULTIPLIER_CHANGE_TIME_DOWN;
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}else{
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safetymultiplier+=1.0/(1000.0/SAFETYMULTIPLIER_UPDATE_INTERVAL)/SAFETYMULTIPLIER_CHANGE_TIME_UP;
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}
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safetymultiplier=constrain(safetymultiplier,0.0,1.0);
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last_safetymultiplier_update=loopmillis;
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}
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//calculate speed l and r from speed and steer
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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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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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esc.setSpeed(_out_speedl,_out_speedr);
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}
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if (error > 0) { //disarm if error occured
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controlmode = MODE_DISARMED; //force disarmed
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}
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if (controlmode == MODE_DISARMED){ //all disarmed
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esc.setSpeed(0,0);
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set_speed=0; //reset filter
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set_steer=0;
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}
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if (esc.sendPending(loopmillis)) {
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//calculate checksum
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out_checksum = ((uint8_t) ((uint8_t)esc.getCmdL()) * ((uint8_t)esc.getCmdR())); //simple checksum
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if (out_checksum == 0 || out_checksum == 255) {
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out_checksum = 1; //cannot be 0 or 255 (special purpose)
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}
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if (!motorenabled) { //disable motors?
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out_checksum = 0; //checksum=0 disables motors
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}
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if (!motorenabled) {//motors disabled
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esc.setSpeed(0,0);
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}
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last_send = loopmillis;
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#ifdef DEBUG
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Serial.print(" out_speedl=");
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Serial.print(out_speedl);
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Serial.print(" out_speedr=");
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Serial.print(out_speedr);
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Serial.print(" checksum=");
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Serial.print(out_checksum);
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Serial.print(" controlmode=");
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Serial.print(controlmode);
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Serial.println();
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#endif
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}
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esc.update(loopmillis);
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updateInputs(loopmillis);
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updateDisplay(loopmillis);
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}
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void updateInputs(unsigned long loopmillis) {
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switch (displaymode) {
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case DISPLAY_STATS: case DISPLAY_STATS2: case DISPLAY_STATS3:
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if (button_up_click) { //first button opens menu
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displaymode=DISPLAY_MENU; // go to menu
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}
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if (button_inc_click) {
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displaymode=DISPLAY_STATS;
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}
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if (button_dec_click) {
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displaymode=DISPLAY_STATS2;
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}
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if (button_down_click) {
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displaymode=DISPLAY_STATS3;
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}
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break;
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case DISPLAY_MENU:
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if (button_up_click) {
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if (menu_entrypos>0) {
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menu_entrypos--;
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}
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}
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if (button_down_click) {
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if (menu_entrypos< (MENU_ENTRIES-1)) {
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menu_entrypos++;
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}
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}
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switch(menu_entrypos) {
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case 0: //Exit
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if (button_inc_click || button_dec_click) {
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displaymode=DISPLAY_STATS;
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}
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break;
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case 1: //Filter NRF Speed
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if (button_inc_click) {
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filter_nrf_set_speed+=0.005;
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filter_nrf_set_speed = constrain(filter_nrf_set_speed, 0.01, 1.0);
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}
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if (button_dec_click) {
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filter_nrf_set_speed-=0.005;
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filter_nrf_set_speed = constrain(filter_nrf_set_speed, 0.01, 1.0);
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}
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break;
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case 2: //Filter NRF Steer
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if (button_inc_click) {
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filter_nrf_set_steer+=0.01;
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filter_nrf_set_steer = constrain(filter_nrf_set_steer, 0.01, 1.0);
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}
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if (button_dec_click) {
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filter_nrf_set_steer-=0.01;
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filter_nrf_set_steer = constrain(filter_nrf_set_steer, 0.01, 1.0);
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}
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break;
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case 3:
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if (button_inc_click) {
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gt_speed_p+=0.05;
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gt_speed_p = constrain(gt_speed_p, 0.05, 5.0);
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}
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if (button_dec_click) {
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gt_speed_p-=0.05;
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gt_speed_p = constrain(gt_speed_p, 0.05, 5.0);
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}
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break;
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case 4:
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if (button_inc_click) {
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gt_steer_p+=0.05;
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gt_steer_p = constrain(gt_steer_p, 0.05, 5.0);
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}
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if (button_dec_click) {
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gt_steer_p-=0.05;
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gt_steer_p = constrain(gt_steer_p, 0.05, 5.0);
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}
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break;
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case 5:
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if (button_inc_click) {
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gt_speed_limit+=50;
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gt_speed_limit = constrain(gt_speed_limit, 50, 1000);
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}
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if (button_dec_click) {
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gt_speed_limit-=50;
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gt_speed_limit = constrain(gt_speed_limit, 50, 1000);
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}
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break;
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case 6:
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if (button_inc_click) {
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gt_steer_limit+=50;
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gt_steer_limit = constrain(gt_steer_limit, 50, 1000);
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}
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if (button_dec_click) {
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gt_steer_limit-=50;
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gt_steer_limit = constrain(gt_steer_limit, 50, 1000);
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}
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break;
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}
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break;
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}
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if (button_up_click || button_down_click || button_inc_click || button_dec_click) { //any button was pressed
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flag_updatedisplay=true;
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button_up_click=false;
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button_down_click=false;
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button_inc_click=false;
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button_dec_click=false;
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}
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}
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void updateDisplay(unsigned long loopmillis)
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{
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static unsigned long last_updatedisplay=0;
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if (loopmillis-last_updatedisplay>DISPLAYUPDATE_INTERVAL || flag_updatedisplay) {
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flag_updatedisplay=false;
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if (displaymode==DISPLAY_STATS) {
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display_show_stats();
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}else if(displaymode==DISPLAY_STATS2) {
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display_show_stats2();
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}else if(displaymode==DISPLAY_STATS3) {
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display_show_stats3();
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}else if(displaymode==DISPLAY_MENU) {
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display_show_menu();
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}
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last_updatedisplay=loopmillis;
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}
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}
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void display_show_stats() {
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(0, 0);
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display.print(F("MODE="));
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switch(controlmode) {
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case MODE_DISARMED:
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display.println(F("DISARMED"));
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break;
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case MODE_RADIONRF:
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display.println(F("RADIONRF"));
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break;
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case MODE_GAMETRAK:
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display.println(F("GAMETRAK"));
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break;
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default:
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display.println(F("UNDEF"));
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break;
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}
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//updates only when display active
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static float maxcurL=0;
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static float maxcurR=0;
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maxcurL=max(maxcurL,esc.getFiltered_curL());
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maxcurR=max(maxcurR,esc.getFiltered_curR());
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static float mincurL=0;
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static float mincurR=0;
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mincurL=min(mincurL,esc.getFiltered_curL());
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mincurR=min(mincurR,esc.getFiltered_curR());
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display.print(F("Bat=")); display.print(esc.getFeedback_batVoltage()); display.print(F(" Temp=")); display.println(esc.getFeedback_boardTemp());
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display.print(F("nrf_delay=")); display.print(last_nrfreceive_delay);
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display.print(F("maxdiff=")); display.println(raw_length_maxdiff);
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display.print(F("DC max=")); display.print(maxcurL,1); display.print(F("/")); display.println(maxcurR,1); // display.print(F(" min=")); display.print(mincurL,1); display.print(F("/")); display.println(mincurR,1);
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display.print(F("trip=")); display.print(esc.getTrip(),0); display.print(F(",")); display.print(esc.getCurrentConsumed(),3); display.println(F("Ah"));
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display.display(); // Show initial text
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}
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void display_show_stats2() {
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(0, 0);
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display.print(F("CMD=")); display.print(esc.getCmdL()); display.print(F(", ")); display.println(esc.getCmdR());
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display.print(F("FBC=")); display.print(esc.getFeedback_cmd1()); display.print(F(", ")); display.println(esc.getFeedback_cmd2());
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display.print(F("Speed=")); display.print(esc.getFeedback_speedL_meas()); display.print(F(", ")); display.println(esc.getFeedback_speedR_meas());
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display.print(F("Length=")); display.println(gt_length);
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display.print(F("H=")); display.print(gt_horizontal); display.print(F(" V=")); display.println(gt_vertical);
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display.print(F("CMD=")); display.print(esc.getCmdL()); display.print(F(", ")); display.println(esc.getCmdR());
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display.display(); // Show initial text
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}
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void display_show_stats3() {
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(0, 0);
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display.display(); // Show initial text
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}
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void display_show_menu() {
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display.clearDisplay();
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display.setTextSize(1);
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display.setTextColor(SSD1306_WHITE);
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display.setCursor(0, 0);
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for (uint8_t i=0;i<MENU_ENTRIES;i++) {
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if (i==menu_entrypos) {
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display.print(F(">"));
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}else{
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display.print(F(" "));
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}
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switch(i) {
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case 0:
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display.print(F("EXIT")); display.println();
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break;
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case 1:
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display.print(F("Fltr spd=")); display.println(filter_nrf_set_speed,3);
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break;
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case 2:
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display.print(F("Fltr str=")); display.println(filter_nrf_set_steer,3);
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break;
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case 3:
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display.print(F("gt_speed_p=")); display.println(gt_speed_p);
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break;
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case 4:
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display.print(F("gt_steer_p=")); display.println(gt_steer_p);
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break;
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case 5:
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display.print(F("gt_speed_limit=")); display.println(gt_speed_limit);
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break;
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case 6:
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display.print(F("gt_steer_limit=")); display.println(gt_steer_limit);
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break;
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}
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}
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display.display(); // Show initial text
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} |