EFeru/hoverboard-firmware-hack-SIN
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ADD: support for chinese nunchuck

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This commit is contained in:
Niklas Fauth
2018-05-06 20:11:53 +02:00
parent 5326e558ae
commit 7337a8ae7e
5 changed files with 424 additions and 424 deletions
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16
Src/main.c
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@@ -123,13 +123,11 @@ int main(void) {
#ifdef CONTROL_NUNCHUCK
Nunchuck_Read();
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
cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, -1000, 1000); // x - axis. Nunchuck joystick readings range 30 - 230
cmd2 = CLAMP((nunchuck_data[1] - 128) * 8, -1000, 1000); // y - axis
//uint8_t button1 = (uint8_t)nunchuck_data[5] & 1;
//uint8_t button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
timeout = 0;
#endif
#ifdef CONTROL_PPM
@@ -145,8 +143,8 @@ int main(void) {
#endif
// ####### LOW-PASS FILTER #######
speed = speed * (1.0 - FILTER) + cmd1 * FILTER;
steer = steer * (1.0 - FILTER) + cmd2 * FILTER;
steer = steer * (1.0 - FILTER) + cmd1 * FILTER;
speed = speed * (1.0 - FILTER) + cmd2 * FILTER;
setScopeChannel(0, (int)speed);
setScopeChannel(1, (int)steer);
@@ -156,7 +154,7 @@ int main(void) {
speedL = CLAMP(speed * SPEED_COEFFICIENT + steer * STEER_COEFFICIENT, -1000, 1000);
setScopeChannel(2, (int)speedR);
setScopeChannel(3, (int)speedL);
setScopeChannel(3, (int)timeout);
// ####### ADDITIONAL CODE #######
#ifdef ADDITIONAL_CODE
@@ -164,7 +162,7 @@ int main(void) {
#endif
// ####### SET OUTPUTS #######
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < 50) {
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50) && timeout < TIMEOUT) {
pwmr = speedR;
pwml = -speedL;
}
@@ -175,8 +173,6 @@ int main(void) {
// ####### LOG TO CONSOLE #######
consoleScope();
timeout=0;
if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {
enable = 0;
while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {}