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nippleremote
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remove mode logic

This commit is contained in:
interfisch 2022-07-14 18:08:40 +02:00
parent fe9ff4f27f
commit a1da44f7c9
2 changed files with 27 additions and 107 deletions
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2
nippleremote_firmware/lib/RF24

@ -1 +1 @@
Subproject commit ebcd0d1d0b3061fcb57444e1dbe5829ef25705cd
Subproject commit b18ed8c0133e1d1502cb52ce723531f611252763

132
nippleremote_firmware/src/main.cpp
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@ -55,7 +55,7 @@ const uint64_t pipes[2] = { 0xF0F0F0F0E1LL, 0xF0F0F0F0D2LL }; //0xF0F0F0F0xxLL,
struct nrfdata {
uint8_t steer; //between 0 and 255, 127 is stop. will be scaled to -1000 to 1000
uint8_t speed; //between 0 and 255, 127 is stop. will be scaled to -1000 to 1000
uint8_t commands; //bit 0 set = motor enable
uint8_t commands; //bit 0 set = motor enable, 1=left,2=up,3=down,4=right
uint8_t checksum;
};
@ -77,17 +77,11 @@ boolean motorenabled=false;
#define TRACKPOINT_MAX 70 //value for maximum stick movement
#define TRACKPOINT_MAX_ERROR 90 //if value above this amount, error is triggered (nipple position stuck. maybe fixed by slowing down reading interval)
float speedscale=0.0;
float steerscale=0.0;
float speedscale=1.0;
float steerscale=1.0;
int16_t last_xin=0;
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
@ -98,8 +92,7 @@ long setupmode_waitstarttime=0; //starttime of SETUP_WAIT mode
#define SETUP_HOLD_POWEROFF 2000 //if button held down after x ms in setup mode, power off
#define SETUP_DONE_TIME 1000 //time to keep motors disabled after exiting setup
#define SETUP_MOVE_THRESHOLD 275 //500*TRACKPOINT_MAX/127
uint8_t speedmode=1; //0 (slow), 1(medium), 2(fast)
#define SETUP_SPEEDMODE_MAX 2
uint16_t led_ton=0; //never. time in ms for on time
uint16_t led_toff=65535; //always
@ -111,6 +104,8 @@ long time_lastactivity=0;
boolean touching=false;
uint8_t setup_directon_press=0; // 1=left,2=up,3=down,4=right
int voltage=4000;
#define VOLTAGE_WARN 3400
/*
@ -119,7 +114,7 @@ int voltage=4000;
void sendRF(nrfdata senddata);
long readVcc();
void setup_updateSpeedmode();
unsigned long last_testprint=0;
@ -179,7 +174,6 @@ void setup() {
Serial.print("Voltage=");
Serial.println( voltage, DEC );
setup_updateSpeedmode(); //set speeds
}
@ -218,14 +212,13 @@ void loop() {
Serial.println(d.y);
#endif
Serial.print("DataReport: ");
Serial.print(d.x);
Serial.print(", ");
Serial.println(d.y);
nrfdata senddata;
//senddata.steer=map(constrain((uint8_t)(d.x+127),127-TRACKPOINT_MAX,127+TRACKPOINT_MAX) , 127-TRACKPOINT_MAX,127+TRACKPOINT_MAX, 127+(127*steerscale), 127-(127*steerscale) ); //steer
//senddata.speed=map(constrain((uint8_t)(d.y+127),127-TRACKPOINT_MAX,127+TRACKPOINT_MAX) , 127-TRACKPOINT_MAX,127+TRACKPOINT_MAX, 127-(127*speedscale), 127+(127*speedscale) ); //speed
@ -282,52 +275,8 @@ void loop() {
Serial.println(phi,4);*/
//xin_smooth=smoothfilter*xin_smooth + (1-smoothfilter)*xin;
//yin_smooth=smoothfilter*yin_smooth + (1-smoothfilter)*yin;
if (maxaccsteer>0){
// ### X ###
int16_t _xaccel=xin_smooth-xin;
if ((xin_smooth>0 && xin<-2) || (xin_smooth<0 && xin>2) ){ //if actively braking
if (_xaccel<-maxaccsteer_brake){ //limit deceleration
_xaccel=-maxaccsteer_brake;
}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 ((yin_smooth>0 && yin<-2) || (yin_smooth<0 && yin>2) ){ //if actively braking
if (_yaccel<-maxacc_brake){ //limit deceleration
_yaccel=-maxacc_brake;
}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
yin_smooth=yin;
}
senddata.steer=map(xin_smooth, -1000,1000, 127+(128*steerscale), 127-(127*steerscale) ); //steer
senddata.speed=map(yin_smooth, -1000,1000, 127-(127*speedscale), 127+(128*speedscale) ); //speed
senddata.steer=map(xin, -1000,1000, 127+(128*steerscale), 127-(127*steerscale) ); //steer
senddata.speed=map(yin, -1000,1000, 127-(127*speedscale), 127+(128*speedscale) ); //speed
senddata.commands=0; //reset
@ -335,12 +284,16 @@ void loop() {
//senddata.steer=127; //stop
//senddata.speed=127;
senddata.commands|= 0 << 0; //motorenabled send false
xin_smooth=0; //reset smooth value
yin_smooth=0;
}else{
senddata.commands|= motorenabled << 0; //motorenabled is bit 0
}
if (setup_directon_press!=0) {
senddata.commands|= 1 << setup_directon_press; //motorenabled is bit 0
setup_directon_press=0; //reset after sending
}
#ifdef DEBUG
Serial.print(senddata.steer);
Serial.print(", ");
@ -403,35 +356,23 @@ void loop() {
if (millis()>setupmode_waitstarttime+SETUP_WAIT_TIMEOUT){ //waittime over
setupmode=SETUP_NONE; //exit setup
}else if(last_yin > SETUP_MOVE_THRESHOLD){ //y moved up
Serial.print("Moved Up");
if (speedmode<SETUP_SPEEDMODE_MAX){ //if not already at maximum
speedmode+=1;
}
setup_updateSpeedmode();
Serial.println("Moved Up");
setup_directon_press=2;
setupmode=SETUP_DONE; //exit setupmode
setupmode_waitstarttime=millis(); //use this value for done timer
}else if(last_yin < -SETUP_MOVE_THRESHOLD){ //y moved down
Serial.print("Moved Down");
if (speedmode>0){ //if not already at minimum
speedmode-=1;
}
setup_updateSpeedmode();
Serial.println("Moved Down");
setup_directon_press=3;
setupmode=SETUP_DONE; //exit setupmode
setupmode_waitstarttime=millis();//use this value for done timer
}else if(last_xin < -SETUP_MOVE_THRESHOLD){ //y moved left
Serial.print("Moved Left");
maxacc=20; //the higher the snappier
maxacc_brake=30;
maxaccsteer=30;
maxaccsteer_brake=70;
Serial.println("Moved Left");
setup_directon_press=1;
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;
Serial.println("Moved Right");
setup_directon_press=4;
setupmode=SETUP_DONE; //exit setupmode
setupmode_waitstarttime=millis();//use this value for done timer
}else if (millis()>setupmode_waitstarttime+SETUP_HOLD_POWEROFF && !digitalRead(PIN_BUTTON)){ //if button held down after SETUP_HOLD_POWEROFF
@ -549,24 +490,3 @@ long readVcc() {
result = 1126400L / result; // Back-calculate AVcc in mV
return result;
}
void setup_updateSpeedmode(){
switch(speedmode){
case 0: //slow
speedscale=0.15;
steerscale=0.2;
break;
case 1: //medium
speedscale=0.4;
steerscale=0.45;
break;
case 2: //fast
speedscale=1.0;
steerscale=0.8;
break;
default:
speedscale=0.1;
steerscale=0.1;
break;
}
}