interfisch
/
hoverboard-firmware-hack-foc-serial-esc
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Fixes Skateboard Variant 

- fixed to RIGHT cable
- fixed braking relative to the direction of motion
- adjusted the braking amount to -400
This commit is contained in:
EmanuelFeru 2020-07-20 21:06:39 +02:00
parent 733fd80362
commit 290ed30765
2 changed files with 23 additions and 19 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

32
Inc/config.h
View File

@ -324,11 +324,6 @@
*/ */
#define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2! #define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
// #define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3! // #define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
#ifdef CONTROL_PWM_RIGHT
#define DEBUG_SERIAL_USART2 // left sensor cable debug
#else
#define DEBUG_SERIAL_USART3 // right sensor cable debug
#endif
#define PWM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define PWM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
// Min / Max values of each channel (use DEBUG to determine these values) // Min / Max values of each channel (use DEBUG to determine these values)
#define PWM_CH1_MAX 1000 // (0 - 1000) #define PWM_CH1_MAX 1000 // (0 - 1000)
@ -342,8 +337,13 @@
// #define INVERT_L_DIRECTION // #define INVERT_L_DIRECTION
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2! // #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3! // #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
#ifdef CONTROL_PWM_RIGHT
#define DEBUG_SERIAL_USART2 // left sensor cable debug
#else
#define DEBUG_SERIAL_USART3 // right sensor cable debug
#endif
#endif #endif
// ############################# END OF VARIANT_PPM SETTINGS ############################ // ############################# END OF VARIANT_PWM SETTINGS ############################
@ -433,7 +433,7 @@
// ############################# END OF VARIANT_TRANSPOTTER SETTINGS ######################## // ############################# END OF VARIANT_TRANSPOTTER SETTINGS ########################
// ################################# VARIANT_PWM SETTINGS ############################## // ################################# VARIANT_SKATEBOARD SETTINGS ##############################
#ifdef VARIANT_SKATEBOARD #ifdef VARIANT_SKATEBOARD
/* ###### CONTROL VIA RC REMOTE ###### /* ###### CONTROL VIA RC REMOTE ######
* right sensor board cable. Connect PB10 to channel 1 and PB11 to channel 2 on receiver. * right sensor board cable. Connect PB10 to channel 1 and PB11 to channel 2 on receiver.
@ -441,20 +441,15 @@
*/ */
#undef CTRL_MOD_REQ #undef CTRL_MOD_REQ
#define CTRL_MOD_REQ TRQ_MODE // SKATEBOARD works best in TORQUE Mode #define CTRL_MOD_REQ TRQ_MODE // SKATEBOARD works best in TORQUE Mode
#define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2! // #define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
// #define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3! #define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
#ifdef CONTROL_PWM_RIGHT
#define DEBUG_SERIAL_USART2 // left sensor cable debug
#else
#define DEBUG_SERIAL_USART3 // right sensor cable debug
#endif
#define PWM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0) #define PWM_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
// Min / Max values of each channel (use DEBUG to determine these values) // Min / Max values of each channel (use DEBUG to determine these values)
#define PWM_CH1_MAX 1000 // (0 - 1000) #define PWM_CH1_MAX 1000 // (0 - 1000)
#define PWM_CH1_MIN -1000 // (-1000 - 0) #define PWM_CH1_MIN -1000 // (-1000 - 0)
#define PWM_CH2_MAX 700 // (0 - 1000) #define PWM_CH2_MAX 700 // (0 - 1000)
#define PWM_CH2_MIN -800 // (-1000 - 0) #define PWM_CH2_MIN -800 // (-1000 - 0)
#define PWM_CH2_OUT_MIN -150 // (-1000 - 0) Change this value to adjust the braking amount #define PWM_CH2_OUT_MIN -400 // (-1000 - 0) Change this value to adjust the braking amount
#define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0]. #define FILTER 6553 // 0.1f [-] fixdt(0,16,16) lower value == softer filter [0, 65535] = [0.0 - 1.0].
#define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14 #define SPEED_COEFFICIENT 16384 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14
#define STEER_COEFFICIENT 0 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0. #define STEER_COEFFICIENT 0 // 1.0f [-] fixdt(1,16,14) higher value == stronger. [0, 65535] = [-2.0 - 2.0]. In this case 16384 = 1.0 * 2^14. If you do not want any steering, set it to 0.
@ -463,8 +458,13 @@
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2! // #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3! // #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
// #define STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode. // #define STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode.
#ifdef CONTROL_PWM_RIGHT
#define DEBUG_SERIAL_USART2 // left sensor cable debug
#else
#define DEBUG_SERIAL_USART3 // right sensor cable debug
#endif
#endif #endif
// ############################# END OF VARIANT_PPM SETTINGS ############################ // ############################# END OF VARIANT_SKATEBOARD SETTINGS ############################

8
Src/main.c
View File

@ -241,8 +241,12 @@ int main(void) {
#endif #endif
#ifdef VARIANT_SKATEBOARD #ifdef VARIANT_SKATEBOARD
if (cmd2 < 0) { // When Throttle pedal is negative, it acts as brake. This condition is to make sure it goes to 0 as we reach standstill (to avoid Reverse driving) if (cmd2 < 0) { // When Throttle is negative, it acts as brake. This condition is to make sure it goes to 0 as we reach standstill (to avoid Reverse driving)
cmd2 = (int16_t)((cmd2 * speedBlend) >> 15); if (speedAvg > 0) { // Make sure the braking is opposite to the direction of motion
cmd2 = (int16_t)(( cmd2 * speedBlend) >> 15);
} else {
cmd2 = (int16_t)((-cmd2 * speedBlend) >> 15);
}
} }
#endif #endif