feedc0de/bobbycar-boardcomputer-firmware
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Fixed apply checks and Mosfets off mode

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This commit is contained in:
CommanderRedYT
2021-12-05 23:08:56 +01:00
parent c5b9a0ab51
commit 0ab293ee07
1 changed files with 23 additions and 7 deletions
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30
main/modes/defaultmode.cpp
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@ -50,7 +50,13 @@ void DefaultMode::update()
const auto now = espchrono::millis_clock::now();
if (gas_processed > 10 || (!overrideHandbremse && (abs(avgSpeedKmh) > 2 || !controllers.front.feedbackValid || !controllers.back.feedbackValid || settings.handbremse.triggerTimeout < 1 || !settings.handbremse.enable || !settings.handbremse.automatic)))
if (!settings.handbremse.enable)
goto hell;
if (settings.handbremse.automatic && settings.handbremse.enable && settings.handbremse.mode == HandbremseMode::SPEED_0 && (abs(gas_processed) > 0 || abs(brems_processed) > 0))
goto hell;
if ((abs(gas_processed) > 10 || abs(brems_processed) > 10) || (!overrideHandbremse && (abs(avgSpeedKmh) > 2 || !controllers.front.feedbackValid || !controllers.back.feedbackValid || settings.handbremse.triggerTimeout < 1 || !settings.handbremse.automatic)))
{
m_stillSince = std::nullopt;
overrideHandbremse = false;
@ -61,19 +67,29 @@ void DefaultMode::update()
m_stillSince = now;
goto hell;
}
else if ((overrideHandbremse && abs(avgSpeedKmh) <= 2) && espchrono::ago(*m_stillSince) >= espchrono::milliseconds32(settings.handbremse.triggerTimeout))
else if ((abs(avgSpeedKmh) <= 2) && (overrideHandbremse || espchrono::ago(*m_stillSince) >= espchrono::milliseconds32(settings.handbremse.triggerTimeout)))
{
fixCommonParams();
for (bobbycar::protocol::serial::MotorState &motor : motors())
{
motor.ctrlTyp = bobbycar::protocol::ControlType::FieldOrientedControl;
motor.ctrlMod = ((settings.handbremse.mode == HandbremseMode::SPEED_0) ? bobbycar::protocol::ControlMode::Speed : bobbycar::protocol::ControlMode::OpenMode);
switch (settings.handbremse.mode)
{
case HandbremseMode::MOSFETS_OFF:
motor.ctrlMod = bobbycar::protocol::ControlMode::Torque;
motor.enable = false;
break;
case HandbremseMode::OPENMODE:
motor.ctrlMod = bobbycar::protocol::ControlMode::OpenMode;
break;
case HandbremseMode::SPEED_0:
motor.ctrlMod = bobbycar::protocol::ControlMode::Speed;
break;
}
motor.pwm = 0;
motor.cruiseCtrlEna = false;
motor.nCruiseMotTgt = 0;
if (settings.handbremse.mode == HandbremseMode::MOSFETS_OFF)
motor.enable = false;
motor.nCruiseMotTgt = 0;
}
}
else
@ -174,8 +190,8 @@ hell:
motor.cruiseCtrlEna = false;
motor.nCruiseMotTgt = 0;
}
fixCommonParams();
}
fixCommonParams();
}
sendCommands();