fix reading trackpoint too fast
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bc2ebcbebb
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0d33dda103
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@ -60,7 +60,7 @@ struct nrfdata {
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};
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long last_sendNRF=0;
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#define NRFSEND_DELAY 20 //ms
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#define NRFSEND_DELAY 45 //ms
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#define PIN_TOUCH 5
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long last_touch=0;
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@ -76,6 +76,7 @@ boolean motorenabled=false;
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#define PIN_POWERON 7
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#define TRACKPOINT_MAX 70 //value for maximum stick movement
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#define TRACKPOINT_MAX_ERROR 90 //if value above this amount, error is triggered (nipple position stuck. maybe fixed by slowing down reading interval)
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float speedscale=0.0;
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float steerscale=0.0;
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@ -120,6 +121,8 @@ void sendRF(nrfdata senddata);
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long readVcc();
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void setup_updateSpeedmode();
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unsigned long last_testprint=0;
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void setup() {
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//Mouse.begin();
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@ -214,6 +217,11 @@ void loop() {
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Serial.print(", ");
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Serial.println(d.y);
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#endif
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Serial.print("DataReport: ");
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Serial.print(d.x);
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Serial.print(", ");
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Serial.println(d.y);
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nrfdata senddata;
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@ -226,14 +234,30 @@ void loop() {
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int16_t xin;
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if (d.x>=0 && d.x<=127){ //positive range
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xin=map(constrain((int16_t)d.x,0,TRACKPOINT_MAX) , 0,TRACKPOINT_MAX, 0, 1000 );
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if ((float)d.x>TRACKPOINT_MAX_ERROR) { //value outside expected range
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touching=false; //simulate hands off (needs recentering to reenable)
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motorenabled=false;
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}
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}else{ //negative range 128(=-1000) to 255(0)
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xin=map(constrain((int16_t)d.x,127+TRACKPOINT_MAX,255) , 127+TRACKPOINT_MAX,255, -1000, 0 );
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if ((float)d.x<255-TRACKPOINT_MAX_ERROR) { //value outside expected range
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touching=false; //simulate hands off (needs recentering to reenable)
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motorenabled=false;
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}
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}
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int16_t yin;
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if (d.y>=0 && d.y<=127){ //positive range
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yin=map(constrain((float)d.y,0,TRACKPOINT_MAX) , 0,TRACKPOINT_MAX, 0, 1000 );
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if ((float)d.y>TRACKPOINT_MAX_ERROR) { //value outside expected range
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touching=false; //simulate hands off (needs recentering to reenable)
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motorenabled=false;
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}
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}else{ //negative range 128(=-1000) to 255(0)
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yin=map(constrain((float)d.y,127+TRACKPOINT_MAX,255) , 127+TRACKPOINT_MAX,255, -1000, 0 );
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if ((float)d.y<255-TRACKPOINT_MAX_ERROR) { //value outside expected range
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touching=false; //simulate hands off (needs recentering to reenable)
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motorenabled=false;
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}
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}
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last_xin=xin; //save position values for other stuff than control
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@ -316,12 +340,14 @@ void loop() {
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}else{
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senddata.commands|= motorenabled << 0; //motorenabled is bit 0
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}
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#ifdef DEBUG
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Serial.print(senddata.steer);
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Serial.print(", ");
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Serial.println(senddata.speed);
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#endif
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senddata.checksum=(uint8_t)((senddata.steer+3)*(senddata.speed+13));
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sendRF(senddata);
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@ -337,9 +363,14 @@ void loop() {
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}
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if(millis()-last_testprint >= 250){ //Test print
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Serial.print(last_xin); Serial.print(", "); Serial.println(last_yin);
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last_testprint=millis();
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}
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if(millis()-last_touch <= TOUCH_TIMEOUT){ //is touched
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if (!touching && setupmode!=SETUP_DONE) { //was false, is touching again (and not during setup_done wait)
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Serial.println("touching was false");
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//Serial.println("touching was false");
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if (last_xin==0 && last_yin==0) { //stick at center position
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touching=true; //enable only if stick is at center again
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motorenabled=true;
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