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Updated Parameters (markdown)

Candas1
2022-06-09 20:18:31 +02:00
parent 8a3821f3d0
commit 35d93e248e
1 changed files with 6 additions and 1 deletions
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Parameters.md

@@ -51,7 +51,7 @@ This means if the input goes from 0 to 300, the output value will be 90% of the
A filter of 65535 in fixed-point, which corresponds to 1 in single precision, means no filter will be applied.<br>
You can also define parameter FILTER for a specific variant, it will overwrite DEFAULT_FILTER parameter (e.g. NUNCHUK Variant is using a smoother filter of 3276->0.05 ).
### Coefficients
### ✖️ Coefficients
DEFAULT_STEER_COEFFICIENT and DEFAULT_SPEED_COEFFICIENT parameters can be used to scale INPUT1 and INPUT2 respectively.<br>
The default value for the speed coefficient is 16384 in fixed-point, which corresponds to 1.0 in single precision, it means INPUT2 is not scaled.<br>
* A value of 8192 in fixed-point means the input value is multiplied by 0.5
@@ -61,6 +61,11 @@ The default value for the speed coefficient is 16384 in fixed-point, which corre
After the coefficients have been applied, Steer and Speed value are mixed to control left and right motor.<br>
If you don't need steering, you can define STEER_COEFFICIENT parameter as 0, it will overwrite DEFAULT_STEER_COEFFICIENT.
### ↕↕ Tank Steering
TANK_STEERING parameter can be used to disable the differential steering, your inputs will directly drive each while.<br>
STEER_COEFFICIENT and SPEED_COEFFICIENT parameters will be ignored, but RATE and FILTER are still used.<br>
This parameter is valid for all variant except Hovercar, Skateboard, Transpoter and Hoverboard.<br>
### :rewind: Invert wheel direction
By default, the firmware assumes the wheels are side by side.<br>
You can use INVERT_R_DIRECTION or INVERT_L_DIRECTION parameter to invert the direction of one wheel. (e.g. on a scooter, both wheels are facing the same direction).