diff --git a/Variant-HOVERCAR.md b/Variant-HOVERCAR.md index 2a602e5..04c82b5 100644 --- a/Variant-HOVERCAR.md +++ b/Variant-HOVERCAR.md @@ -82,14 +82,14 @@ With this variant, the auto-calibration is expecting 2 normal pots, and will rej You can change the type of input1(brake) to 0 to disable it if you have a mechanical brake and don't need this input. But you won't be able to use it to reverse anymore. ### Features: -| Feature | How to use it | -| ------------- | ------------- | -| Reverse | Double-pressing brake at standstill will activate reverse| -| Switch Control Mode | Pressing the left optical sensor on the sideboard will switch the control mode (Voltage, Speed, Torque)| -| Field Weakening | Pressing the right optical sensor on the sideboard turns Field Weakening ON/OFF | -| Cruise Control | If CRUISE_CONTROL_SUPPORT parameter is enabled, pressing the right optical sensor on the sideboard will turn Cruise Control ON/OFF instead of field weakening
If you are not using the sideboard, and SUPPORT_BUTTONS and SUPPORT_BUTTONS_LEFT parameters are enabled, pressing a button connected to the blue wire on the left sensor board cable will turn Cruise Control ON/OFF.| -| Standstill hold | If STANDSTILL_HOLD_ENABLE parameter is enabled, motors will hold the position when standtill is reached.
Only available and makes sense for VOLTAGE or TORQUE mode| -| Electric Brake |If ELECTRIC_BRAKE_ENABLE parameter is enabled, it will replace "freewheel" with a constant braking when the input torque(throttle) request is 0
Parameter ELECTRIC_BRAKE_MAX can be used to set the Maximum electric brake to be applied when input torque request is 0 (pedal fully released)
Parameter ELECTRIC_BRAKE_THRES is the threshold below at which the electric brake starts engaging
Only available and makes sense for TORQUE mode| +| Feature | Mode | How to use it | +| ------------- | -----| ------------- | +| Reverse | All | Double-pressing brake at standstill will activate reverse| +| Switch Control Mode | All | Pressing the left optical sensor on the sideboard will switch the control mode (Voltage, Speed, Torque)| +| Field Weakening | All | Pressing the right optical sensor on the sideboard turns Field Weakening ON/OFF| +| Cruise Control | All | If CRUISE_CONTROL_SUPPORT parameter is enabled, pressing the right optical sensor on the sideboard will turn Cruise Control ON/OFF instead of field weakening
If you are not using the sideboard, and SUPPORT_BUTTONS and SUPPORT_BUTTONS_LEFT parameters are enabled, pressing a button connected to the blue wire on the left sensor board cable will turn Cruise Control ON/OFF| +| Standstill hold | VOLTAGE
TORQUE | If STANDSTILL_HOLD_ENABLE parameter is enabled, motors will hold the position when standtill is reached| +| Electric Brake | TORQUE | If ELECTRIC_BRAKE_ENABLE parameter is enabled, it will replace "freewheel" with a constant braking when the input torque(throttle) request is 0
Parameter ELECTRIC_BRAKE_MAX can be used to set the Maximum electric brake to be applied when input torque request is 0 (pedal fully released)
Parameter ELECTRIC_BRAKE_THRES is the threshold below at which the electric brake starts engaging| ### Troubleshooting: - The wheels oscillate when braking: this is normal behavior when there is no load, it won't happen with the wheels on the ground.