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ADD: example code for turbo boost

master
Niklas Fauth 4 years ago
parent
commit
206f67631a
  1. 9
      Inc/config.h
  2. 10
      Src/main.c
  3. 4
      build/hover.hex

9
Inc/config.h

@ -42,6 +42,15 @@
#define SPEED_COEFFICIENT 0.5
#define STEER_COEFFICIENT 0.5
//Turno boost at high speeds while button1 is pressed:
//#define ADDITIONAL_CODE \
if (button1 && speed > 700) { /* field weakening at high speeds */ \
weakl = cmd1 - 700; /* weak should never exceed 400 or 450 MAX!! */ \
weakr = cmd1 - 700; } \
else { \
weakl = 0; \
weakr = 0; }
// ###### BOBBYCAR ######
// #define FILTER 0.1
// #define SPEED_COEFFICIENT -1

10
Src/main.c

@ -141,6 +141,11 @@ int main(void) {
timeout = 0;
#endif
// ####### ADDITIONAL CODE #######
#ifdef ADDITIONAL_CODE
ADDITIONAL_CODE;
#endif
// ####### LOW-PASS FILTER #######
steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
speed = speed * (1.0 - FILTER) + cmd2 * FILTER;
@ -155,11 +160,6 @@ int main(void) {
setScopeChannel(2, (int)speedR);
setScopeChannel(3, (int)speedL);
// ####### ADDITIONAL CODE #######
#ifdef ADDITIONAL_CODE
ADDITIONAL_CODE;
#endif
// ####### SET OUTPUTS #######
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < TIMEOUT) {
pwmr = speedR;

4
build/hover.hex

@ -991,7 +991,7 @@
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:103E18000133824A1360824A938899B281480368C1
:103E28000B4403EBD3735B100360D38899B27E48CD
@ -1028,7 +1028,7 @@
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:10406800914A536C43F40043536490498B6813F0AE
:10407800200F0CBF012200228B6813F0400F0CBFE9

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