slower nrf data rate and maxacc for braking and steering

nippleremote_firmware/nippleremote_firmware.ino

@@ -82,6 +82,9 @@ int16_t last_yin=0;
 int16_t xin_smooth=0;
 int16_t yin_smooth=0;
 int16_t maxacc=0;
+int16_t maxacc_brake=0;
+int16_t maxaccsteer=0;
+int16_t maxaccsteer_brake=0;
 
 #define SETUP_NONE 0
 #define SETUP_WAIT 1 //waiting for input
@@ -129,7 +132,8 @@ void setup() {
   radio.begin();
   //Serial.print("CRC Length=");
   //Serial.println(radio.getCRCLength());
-  
+
+  radio.setDataRate( RF24_250KBPS ); //set to slow data rate. default was 1MBPS
   
   radio.setRetries(15,15); // optionally, increase the delay between retries & # of retries
   radio.setPayloadSize(8); // optionally, reduce the payload size.  seems to improve reliability
@@ -242,23 +246,45 @@ void loop() {
     
     //xin_smooth=smoothfilter*xin_smooth + (1-smoothfilter)*xin;
     //yin_smooth=smoothfilter*yin_smooth + (1-smoothfilter)*yin;
-    if (maxacc>0){
+    if (maxaccsteer>0){
+      // ### X ###
       int16_t _xaccel=xin_smooth-xin;
-      if (_xaccel<-maxacc){ //limit acceleration
+      if ((xin_smooth>0 && xin<-2) || (xin_smooth<0 && xin>2) ){ //if actively braking
-        _xaccel=-maxacc;
+        if (_xaccel<-maxaccsteer_brake){ //limit deceleration
-      }else if (_xaccel>maxacc){
+          _xaccel=-maxaccsteer_brake;
-        _xaccel=maxacc;
+        }else if (_xaccel>maxaccsteer_brake){
+          _xaccel=maxaccsteer_brake;
+        }
+      }else{ //not braking
+        if (_xaccel<-maxaccsteer){ //limit acceleration
+          _xaccel=-maxaccsteer;
+        }else if (_xaccel>maxaccsteer){
+          _xaccel=maxaccsteer;
+        }
       }
       xin_smooth-=_xaccel; //update value
+
+    }else{ //no acc limit
+      xin_smooth=xin; //update immediately
+    }
+    if (maxacc>0){
+      // ### Y ###
       int16_t _yaccel=yin_smooth-yin;
-      if (_yaccel<-maxacc){ //limit acceleration
+      if ((yin_smooth>0 && yin<-2) || (yin_smooth<0 && yin>2) ){ //if actively braking
-        _yaccel=-maxacc;
+        if (_yaccel<-maxacc_brake){ //limit deceleration
-      }else if (_yaccel>maxacc){
+          _yaccel=-maxacc_brake;
-        _yaccel=maxacc;
+        }else if (_yaccel>maxacc_brake){
+          _yaccel=maxacc_brake;
+        }
+      }else{ //not braking
+        if (_yaccel<-maxacc){ //limit acceleration
+          _yaccel=-maxacc;
+        }else if (_yaccel>maxacc){
+          _yaccel=maxacc;
+        }
       }
       yin_smooth-=_yaccel; //update value
     }else{ //no acc limit
-      xin_smooth=xin; //update immediately
       yin_smooth=yin;
     }
 
@@ -269,7 +295,7 @@ void loop() {
     Serial.print(", ");
     Serial.println(senddata.speed);
     
-    senddata.commands=0;
+    senddata.commands=0; //reset
     
     if (!radioOk || setupmode!=SETUP_NONE){ //if last transmission failed or in setup mode
       //senddata.steer=127; //stop
@@ -344,12 +370,18 @@ void loop() {
         setupmode_waitstarttime=millis();//use this value for done timer
       }else if(last_xin < -SETUP_MOVE_THRESHOLD){ //y moved left
         Serial.print("Moved Left");
-        maxacc=50;
+        maxacc=20; //the higher the snappier
+        maxacc_brake=30;
+        maxaccsteer=30;
+        maxaccsteer_brake=70;
         setupmode=SETUP_DONE; //exit setupmode
         setupmode_waitstarttime=millis();//use this value for done timer
       }else if(last_xin > SETUP_MOVE_THRESHOLD){ //y moved right
         Serial.print("Moved Right");
         maxacc=0;
+        maxacc_brake=0;
+        maxaccsteer=0;
+        maxaccsteer_brake=0;
         setupmode=SETUP_DONE; //exit setupmode
         setupmode_waitstarttime=millis();//use this value for done timer
       }
@@ -462,7 +494,7 @@ void setup_updateSpeedmode(){
     break;
     case 1: //medium
       speedscale=0.6;
-      steerscale=0.4;
+      steerscale=0.45;
     break;
     case 2: //fast
       speedscale=1.0;