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calibrate brake

This commit is contained in:
interfisch 2019-12-30 00:15:43 +01:00
parent 4b522c73e8
commit c3be4db106
1 changed files with 47 additions and 15 deletions
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62
controller/controller.ino
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@ -19,7 +19,10 @@
//#define MAXADCVALUE 4095 //#define MAXADCVALUE 4095
#define ADC_CALIB_THROTTLE_LOWEST 1900 //a bit above maximum adc value if throttle it not touched #define ADC_CALIB_THROTTLE_LOWEST 1900 //a bit above maximum adc value if throttle it not touched
#define ADC_CALIB_THROTTLE_MIN 2000 //minimum adc value that should correspond to 0 speed #define ADC_CALIB_THROTTLE_MIN 2000 //minimum adc value that should correspond to 0 speed
#define ADC_CALIB_THROTTLE_MAX 3120 //maximum adc value that should correspond to full speed #define ADC_CALIB_THROTTLE_MAX 3110 //maximum adc value that should correspond to full speed
#define ADC_CALIB_BRAKE_MIN 800 //minimum adc value that should correspond to 0 speed
#define ADC_CALIB_BRAKE_MAX 2400 //maximum adc value that should correspond to full speed
#define PIN_STARTLED PA0 //Red LED inside Engine Start Button. Powered with 5V via transistor #define PIN_STARTLED PA0 //Red LED inside Engine Start Button. Powered with 5V via transistor
uint8_t startled=0; uint8_t startled=0;
@ -67,10 +70,15 @@ long state_modechange_time=0;
long millis_lastadc=0; long millis_lastadc=0;
#define ADC_READTIME 10 //time interval to read adc (for filtering) #define ADC_READTIME 10 //time interval to read adc (for filtering)
#define ADC_THROTTLE_FILTER 0.2 //low value = slower change #define ADC_THROTTLE_FILTER 0.4 //low value = slower change
#define ADC_BRAKE_FILTER 0.4 //low value = slower change
int adc_throttle_raw=0; //raw throttle value from adc int adc_throttle_raw=0; //raw throttle value from adc
float adc_throttle=0; //filtered value float adc_throttle=0; //filtered value
int adc_brake_raw=0; //raw throttle value from adc
float adc_brake=0; //filtered value
uint16_t out_speedFL=0; uint16_t out_speedFL=0;
uint16_t out_speedFR=0; uint16_t out_speedFR=0;
uint16_t out_speedRL=0; uint16_t out_speedRL=0;
@ -209,6 +217,7 @@ void loop() {
ledUpdate(); ledUpdate();
modeloops(); modeloops();
if (loopmillis - last_send > SENDPERIOD) { if (loopmillis - last_send > SENDPERIOD) {
last_send=loopmillis; last_send=loopmillis;
@ -264,7 +273,11 @@ void handleInputs()
if (loopmillis-millis_lastadc>ADC_READTIME) { if (loopmillis-millis_lastadc>ADC_READTIME) {
adc_throttle_raw = analogRead(PIN_THROTTLE); adc_throttle_raw = analogRead(PIN_THROTTLE);
adc_throttle = adc_throttle*(1-ADC_THROTTLE_FILTER) + adc_throttle_raw*ADC_THROTTLE_FILTER; adc_throttle = adc_throttle*(1-ADC_THROTTLE_FILTER) + adc_throttle_raw*ADC_THROTTLE_FILTER;
if (adc_throttle_raw >= ADC_CALIB_THROTTLE_MIN) { //throttle pressed
adc_brake_raw = analogRead(PIN_BRAKE);
adc_brake = adc_brake*(1-ADC_BRAKE_FILTER) + adc_brake_raw*ADC_BRAKE_FILTER;
if (adc_throttle_raw >= ADC_CALIB_THROTTLE_MIN || adc_brake_raw >= ADC_CALIB_BRAKE_MIN) { //throttle or brake pressed
millis_lastchange=loopmillis; millis_lastchange=loopmillis;
} }
millis_lastadc=loopmillis; millis_lastadc=loopmillis;
@ -276,8 +289,6 @@ void handleInputs()
} }
void handleModeChange() { void handleModeChange() {
if (currentmode==requestmode) { //## Not currently changing modes ## if (currentmode==requestmode) { //## Not currently changing modes ##
switch (currentmode) { //mode dependant switch (currentmode) { //mode dependant
case booting: //on startup. active while start button is still pressed case booting: //on startup. active while start button is still pressed
@ -335,7 +346,7 @@ void handleModeChange() {
//Hoverboard powering //Hoverboard powering
switch(state_modechange) { switch(state_modechange) {
case 0: case 0:
if (requestmode==on && adc_throttle > ADC_CALIB_THROTTLE_LOWEST) { //requested to turn on but throttle is pressed if (requestmode==on && (adc_throttle > ADC_CALIB_THROTTLE_LOWEST || adc_brake > ADC_CALIB_BRAKE_MIN) ) { //requested to turn on but throttle or brake is pressed
state_modechange=0; state_modechange=0;
requestmode=currentmode; //abort modechange requestmode=currentmode; //abort modechange
//TODO: led show aborted modechange //TODO: led show aborted modechange
@ -427,6 +438,8 @@ void handleModeChange() {
void modeloops() { void modeloops() {
if (loopmillis - last_looptime >= LOOPTIME) { if (loopmillis - last_looptime >= LOOPTIME) {
last_looptime=loopmillis; last_looptime=loopmillis;
//loop_test(); //for testing (adc calibration prints). comment out following switch case
switch (currentmode) { //mode changes switch (currentmode) { //mode changes
case booting: case booting:
break; break;
@ -452,16 +465,16 @@ void loop_idle() {
void loop_on() { void loop_on() {
int _maxspeed=1000; int _maxspeed=1000;
int _maxbrake=400;
if (MODESWITCH_DOWN) { if (MODESWITCH_DOWN) {
_maxspeed=200; _maxspeed=200;
_maxbrake=200;
} }
int16_t speedvalue=constrain( map(adc_throttle, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, _maxspeed ) ,0, _maxspeed); int16_t throttlevalue=constrain( map(adc_throttle, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, _maxspeed ) ,0, _maxspeed);
/*int16_t lastSpeed=(out_speedFL+out_speedFR+out_speedRL+out_speedRR)/4;
int16_t brakevalue=constrain( map(adc_brake, ADC_CALIB_BRAKE_MIN, ADC_CALIB_BRAKE_MAX, 0, _maxbrake ) ,0, _maxbrake); //positive value for braking
if (speedvalue<=lastSpeed) { //braking
speedvalue = (lastSpeed-speedvalue)>MAXBRAKERATE ? (lastSpeed-MAXBRAKERATE):speedvalue; int16_t speedvalue=throttlevalue*(1- (((float)brakevalue)/_maxbrake)) - (brakevalue*(1- (((float)throttlevalue)/_maxspeed)) ); //brake reduces throttle and adds negative torque
}*/
out_speedFL=speedvalue; out_speedFL=speedvalue;
out_speedFR=speedvalue; out_speedFR=speedvalue;
@ -472,7 +485,26 @@ void loop_on() {
void loop_error() { void loop_error() {
out_speedFL=out_speedFR=out_speedRR=out_speedRL=0; //stop motors out_speedFL=out_speedFR=out_speedRR=out_speedRL=0; //stop motors
Serial.print("Error:"); Serial.println(errormessage); Serial.print("Error:"); Serial.println(errormessage);
}
void loop_test() {
Serial.print("adc_throttle_raw="); Serial.print(adc_throttle_raw);
Serial.print(", adc_brake_raw="); Serial.print(adc_brake_raw);
int _maxspeed=1000;
int _maxbrake=400;
if (MODESWITCH_DOWN) {
_maxspeed=200;
_maxbrake=200;
}
int16_t throttlevalue=constrain( map(adc_throttle, ADC_CALIB_THROTTLE_MIN, ADC_CALIB_THROTTLE_MAX, 0, _maxspeed ) ,0, _maxspeed);
int16_t brakevalue=constrain( map(adc_brake, ADC_CALIB_BRAKE_MIN, ADC_CALIB_BRAKE_MAX, 0, _maxbrake ) ,0, _maxbrake); //positive value for braking
int16_t speedvalue=throttlevalue*(1- (((float)brakevalue)/_maxbrake)) - (brakevalue*(1- (((float)throttlevalue)/_maxspeed)) ); //brake reduces throttle and adds negative torque
Serial.print(", throttle="); Serial.print(throttlevalue); Serial.print(", brake="); Serial.print(brakevalue); Serial.print(", speed="); Serial.println(speedvalue);
} }
void loop_off() { void loop_off() {
@ -489,7 +521,7 @@ boolean boardsPowered()
void failChecks() void failChecks()
{ {
#define FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME 3000 //time to start failchecking boardpower after board poweroff #define FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME 3000 //time to start failchecking boardpower after board poweroff
#define FAILCHECK_RECEIVERECENT_TIME 1000 //should be less than FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME #define FAILCHECK_RECEIVERECENT_TIME 1000 //timeout .should be less than FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME
// ## Check if board is really offline ## // ## Check if board is really offline ##
if (!board1Enabled) { //board should be offline if (!board1Enabled) { //board should be offline
if (loopmillis-board1lastPoweroff > FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME){ //wait some time before checking if board did power off if (loopmillis-board1lastPoweroff > FAILCHECK_WAITCHECK_AFTER_POWEROFF_TIME){ //wait some time before checking if board did power off