From 5a3ed507b2a9b4b2ec8b7d4e31f2397a5176528e Mon Sep 17 00:00:00 2001
From: Niklas Fauth <niklasfauth@gmx.de>
Date: Mon, 9 Apr 2018 22:03:19 +0200
Subject: [PATCH] ADD: UVLO in config

---
 Inc/config.h | 14 +++++++++-----
 Src/main.c   | 12 ++++++------
 2 files changed, 15 insertions(+), 11 deletions(-)

diff --git a/Inc/config.h b/Inc/config.h
index 3a7c5ec..821e917 100644
--- a/Inc/config.h
+++ b/Inc/config.h
@@ -12,16 +12,20 @@
 
 // ################################################################################
 
-#define PWM_FREQ         16000     // PWM frequency in Hz
-#define DEAD_TIME        32        // PWM deadtime
+#define PWM_FREQ         16000      // PWM frequency in Hz
+#define DEAD_TIME        32         // PWM deadtime
 
 #define DC_CUR_LIMIT     35         // Motor DC current limit in amps
 
+#define BAT_LOW_LVL1     36.0       // gently beeps at this voltage level
+#define BAT_LOW_LVL2     33.0       // your battery is almost empty. Charge now!
+#define BAT_LOW_DEAD     30.0       // undervoltage lockout
+
 // ################################################################################
 
 #define DEBUG_SERIAL_USART2
 //#define DEBUG_SERIAL_USART3
-#define DEBUG_BAUD       115200    // UART baud rate
+#define DEBUG_BAUD       115200     // UART baud rate
 //#define DEBUG_SERIAL_SERVOTERM
 #define DEBUG_SERIAL_ASCII
 //#define DEBUG_I2C_LCD
@@ -47,12 +51,12 @@
 
 // ###### BOBBYCAR ######
 // #define FILTER              0.1
-// #define SPEED_COEFFICIENT   1
+// #define SPEED_COEFFICIENT   -1
 // #define STEER_COEFFICIENT   0
 
 // ###### ARMCHAIR ######
 // #define FILTER              0.05
 // #define SPEED_COEFFICIENT   0.5
-// #define STEER_COEFFICIENT   0.2
+// #define STEER_COEFFICIENT   -0.2
 
 // #define BEEPS_BACKWARD
diff --git a/Src/main.c b/Src/main.c
index 95ad668..a31d7da 100644
--- a/Src/main.c
+++ b/Src/main.c
@@ -123,8 +123,8 @@ int main(void) {
 
     #ifdef CONTROL_NUNCHUCK
       Nunchuck_Read();
-      cmd1 = CLAMP((nunchuck_data[0] - 127) * 10, -1000, 1000);
-      cmd2 = CLAMP((nunchuck_data[1] - 127) * 10, -1000, 1000);
+      cmd1 = CLAMP((nunchuck_data[0] - 127) * 10, -1000, 1000); // y - axis. Nunchuck joystick readings range 30 - 230
+      cmd2 = CLAMP((nunchuck_data[1] - 127) * 10, -1000, 1000); // x - axis
 
       //uint8_t button1 = (uint8_t)nunchuck_data[5] & 1;
       //uint8_t button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
@@ -138,7 +138,7 @@ int main(void) {
     #endif
 
     #ifdef CONTROL_ADC
-      cmd1 = CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35;
+      cmd1 = CLAMP(adc_buffer.l_rx2 - 700, 0, 2350) / 2.35; // ADC values range 0-4095, however full range of our poti only covers 650 - 3050
       //uint8_t button1 = (uint8_t)(adc_buffer.l_tx2 > 2000);
 
       timeout = 0;
@@ -185,13 +185,13 @@ int main(void) {
       while(1) {}
     }
 
-    if (batteryVoltage < 36.0 && batteryVoltage > 33.0) {
+    if (batteryVoltage < BAT_LOW_LVL1 && batteryVoltage > BAT_LOW_LVL2) {
       buzzerFreq = 5;
       buzzerPattern = 8;
-    } else if  (batteryVoltage < 33.0 && batteryVoltage > 30.0) {
+    } else if  (batteryVoltage < BAT_LOW_LVL2 && batteryVoltage > BAT_LOW_DEAD) {
       buzzerFreq = 5;
       buzzerPattern = 1;
-    } else if  (batteryVoltage < 30.0) {
+    } else if  (batteryVoltage < BAT_LOW_DEAD) {
       buzzerPattern = 0;
       enable = 0;
       for (int i = 0; i < 8; i++) {