Commit Graph

15 Commits

Author SHA1 Message Date
EmanuelFeru b4b23bbe9b Implemented HOVERCAR variant
Major:
- created HOVERCAR variant (selectable via platformio.ini) for driving via 2 pedals: Brake (on cmd1) and Throttle (on cmd2)
- implemented "Double tapping" on Brake pedal to engage Reverse driving
- implemented that Brake pedal stops the vehicle but does not go to Reverse, to prevend unintended Reverse driving
- implemented ADC Protection when GND and Vcc wire are disconnected. The functionality can be enabled/disabled via #define ADC_PROTECT_ENA
- updated error handling: in case of major error the motors will be disabled for improved safety

Minor:
- fixed bug on low-pass filter for not reaching exact "0" value
- calibrated the ADC Battery voltage reading
- other minor visual updates
2019-12-31 13:35:01 +01:00
EmanuelFeru 814af15adc Made beep functions available also for other variants
Beep function "short" and "long" can be used also for other variants than TRASNPOTTER
2019-12-23 10:11:48 +01:00
Julian Metzler f253e6e29a Added second beep with varying pitch on follow distance change 2019-12-22 15:34:32 +01:00
EmanuelFeru 0344a9c225 Merge branch 'master' into pr/9 2019-12-14 13:51:37 +01:00
EmanuelFeru 31d42b4a17 Major improvements
- reduced FOC computational complexity by up to 20%, from 85% (old) to 65% (new)
- updated Field Weakening by allowing more freedom set-up: field weakening blended in the input fully, partially blended, or fully outside the input range
- major improvemets on current and speed limitations. It allows seemless limitation protection -> very happy with the result
2019-12-12 23:44:33 +01:00
EmanuelFeru 9fdb6d75f5 Fixed checksum
Fixed a bug when requesting negative speed in the checksum calculation due to data type.
2019-12-01 17:38:36 +01:00
EmanuelFeru 6c8b7f001d Added Sinusoidal Control Type
Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted.
Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
2019-11-30 11:30:12 +01:00
EmanuelFeru 5d195696a2 Implemented reliable Serial Rx/Tx
► Reliable Serial Communication implemented featuring:
- start frame
- checksum
- out-of-sync handling
- timeout and disconnected line detection
► Arduino example code added
► Fixed ConsoleLog Item #5
2019-11-29 17:31:53 +01:00
Julian Metzler f98f531f3e Implemented TranspOtter modifications 2019-11-26 23:58:20 +01:00
EmanuelFeru 01a08d5f6d Fixed ADC calculation
Fix done as suggested in Issue #8 .
2019-11-03 09:54:37 +01:00
EmanuelFeru 62873aad57 PI controller update and fixes
Major:
• all PI controllers with Back-calculation replaced with PI controllers with Clamping to reduce the number of parameters and simplify calculations

Minor:
• fixed the ADC calibration for potetiometer input when ADCx_MIN > 0
• fixed bug: small shock at initialization when current limit I_MOT_MAX is set very small e.g. 1 A
2019-10-31 22:07:52 +01:00
EmanuelFeru 1376793710 Improvements and Issues implementation
Major:
- Issue #3: added raw ADC1, ADC2 values to the setScopeChannel
- Issue #4: added functionality for joystick control. Middle resting potis are now supported (by default it is enabled)
- Issue #6: implemented that board does not power-off after a software reset due to flashing
- added Rate constraints for Input target for smoother response

Minor:
- added 2 beep sound when motors get enabled
- minor bugfixes
2019-10-27 18:21:04 +01:00
EmanuelFeru 8771742558 Floating-point converted to fixed-point
The follwing were converted to fixed-point
- battery voltage
- board temperature
- filters for steer and speed
- mixer calculation

Starting from this moment, the firmware is floating point free, meaning it runs more efficiently.
2019-10-20 13:31:47 +02:00
EmanuelFeru 0527bd770c Added fixed-point low pass filter functions
Preparation of the low pass filter functions. They will be used to replace floating point filters.
2019-10-06 22:43:08 +02:00
EmanuelFeru 5b0b6fecf2 Initial commit 2019-10-06 15:09:15 +02:00