EFeru/hoverboard-firmware-hack-FOC
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HOVERCAR: improved MULTI_MODE

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- improved MULTI_MODE by adding torque and speed limits
  - BEGINNER MODE: Power ON + Brake [released] + Throttle [released or pressed]
  - INTERMEDIATE MODE: Power ON + Brake [pressed] + Throttle [released]
  - ADVANCED MODE: Power ON + Brake [pressed] + Throttle [pressed]
- made Voltage mode as default for hovercar (better for toddlers)
- made MULTI_MODE_DRIVE active as default
This commit is contained in:
EmanuelFeru
2022-08-15 18:30:29 +02:00
parent 5aa85d9af0
commit a6430e3a3e
2 changed files with 24 additions and 9 deletions
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18
Src/main.c
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@@ -214,18 +214,24 @@ int main(void) {
int16_t board_temp_adcFilt = adc_buffer.temp;
#ifdef MULTI_MODE_DRIVE
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) {
if (adc_buffer.l_tx2 > input1[0].min + 50 && adc_buffer.l_rx2 > input2[0].min + 50) {
drive_mode = 2;
max_speed = MULTI_MODE_DRIVE_M3_MAX;
rate = MULTI_MODE_DRIVE_M3_RATE;
} else {
rtP_Left.n_max = rtP_Right.n_max = MULTI_MODE_M3_N_MOT_MAX << 4;
rtP_Left.i_max = rtP_Right.i_max = (MULTI_MODE_M3_I_MOT_MAX * A2BIT_CONV) << 4;
} else if (adc_buffer.l_tx2 > input1[0].min + 50) {
drive_mode = 1;
max_speed = MULTI_MODE_DRIVE_M2_MAX;
rate = MULTI_MODE_DRIVE_M2_RATE;
rtP_Left.n_max = rtP_Right.n_max = MULTI_MODE_M2_N_MOT_MAX << 4;
rtP_Left.i_max = rtP_Right.i_max = (MULTI_MODE_M2_I_MOT_MAX * A2BIT_CONV) << 4;
} else {
drive_mode = 0;
max_speed = MULTI_MODE_DRIVE_M1_MAX;
rate = MULTI_MODE_DRIVE_M1_RATE;
rtP_Left.n_max = rtP_Right.n_max = MULTI_MODE_M1_N_MOT_MAX << 4;
rtP_Left.i_max = rtP_Right.i_max = (MULTI_MODE_M1_I_MOT_MAX * A2BIT_CONV) << 4;
}
printf("Drive mode %i selected: max_speed:%i acc_rate:%i \r\n", drive_mode, max_speed, rate);