EFeru/hoverboard-firmware-hack-FOC
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Moved rate, max_speed initialization out of the drive loop

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Guruth
2022-05-22 20:36:27 +02:00
parent 6b2cf03ef1
commit 87f9d4e8a3
1 changed files with 19 additions and 31 deletions
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50
Src/main.c
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@@ -214,18 +214,26 @@ int main(void) {
int16_t board_temp_adcFilt = adc_buffer.temp;
#ifdef MULTI_MODE_DRIVE
int16_t adc_one = adc_buffer.l_rx2;
int16_t adc_two = adc_buffer.l_tx2;
if(adc_buffer.l_rx2 >= input1[0].min){
drive_mode = 0;
max_speed = MULTI_MODE_DRIVE_M1_MAX;
rate = MULTI_MODE_DRIVE_M1_RATE;
} else if(adc_buffer.l_tx2 >= input2[0].min){
drive_mode = 2;
max_speed = MULTI_MODE_DRIVE_M3_MAX;
rate = MULTI_MODE_DRIVE_M3_RATE;
} else{
drive_mode = 1;
max_speed = MULTI_MODE_DRIVE_M2_MAX;
rate = MULTI_MODE_DRIVE_M2_RATE;
}
if(adc_one >= input1[0].min){
drive_mode = 0;
} else if(adc_two >= input2[0].min){
drive_mode = 2;
} else{
drive_mode = 1;
}
printf("Drive mode %i selected \r\n", drive_mode);
printf(
"Drive mode %i selected: max_speed:%i acc_rate:%i \r\n",
drive_mode,
max_speed,
rate
);
#endif
// Loop until button is released
@@ -302,17 +310,6 @@ int main(void) {
}
#endif
#ifdef MULTI_MODE_DRIVE
if(drive_mode == 0){
rate = MULTI_MODE_DRIVE_M1_RATE;
} else if( drive_mode == 1){
rate = MULTI_MODE_DRIVE_M2_RATE;
} else if(drive_mode == 2){
rate = MULTI_MODE_DRIVE_M3_RATE;
}
#endif
// ####### LOW-PASS FILTER #######
rateLimiter16(input1[inIdx].cmd , rate, &steerRateFixdt);
rateLimiter16(input2[inIdx].cmd , rate, &speedRateFixdt);
@@ -326,15 +323,6 @@ int main(void) {
if (inIdx == CONTROL_ADC) { // Only use use implementation below if pedals are in use (ADC input)
#ifdef MULTI_MODE_DRIVE
if(drive_mode == 0){
max_speed = MULTI_MODE_DRIVE_M1_MAX;
} else if( drive_mode == 1){
max_speed = MULTI_MODE_DRIVE_M2_MAX;
} else if(drive_mode == 2){
max_speed = MULTI_MODE_DRIVE_M3_MAX;
}
if(speed >= max_speed){
speed = max_speed;
}