feedc0de/bobbycar-boardcomputer-firmware
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Fixed seatbot

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This commit is contained in:
0xFEEDC0DE64
2022-04-08 20:54:02 +02:00
parent c0f8197262
commit 1f6eb46771
4 changed files with 35 additions and 23 deletions
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4
main/displays/joystickdebugdisplay.cpp
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@ -40,13 +40,13 @@ void JoystickDebugDisplay::update()
m_x = std::nullopt;
else
{
m_x = map_analog_stick(m_gasMitte, m_gasMin, m_gasMax, *raw_gas);
m_x = map_analog_stick(m_gasMitte, m_gasMin, m_gasMax, configs.deadband.value, *raw_gas);
}
if (!raw_brems)
m_y = std::nullopt;
else
m_y = map_analog_stick(m_bremsMitte, m_bremsMin, m_bremsMax, *raw_brems);
m_y = map_analog_stick(m_bremsMitte, m_bremsMin, m_bremsMax, configs.deadband.value, *raw_brems);
}
void JoystickDebugDisplay::redraw()

4
main/potis.cpp
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@ -78,13 +78,13 @@ void readPotis()
#else
if (raw_gas)
{
gas = map_analog_stick(configs.gasMitte.value, configs.gasMin.value, configs.gasMax.value, *raw_gas);
gas = map_analog_stick(configs.gasMitte.value, configs.gasMin.value, configs.gasMax.value, configs.deadband.value, *raw_gas);
}
else
gas = std::nullopt;
if (raw_brems)
{
brems = map_analog_stick(configs.bremsMitte.value, configs.bremsMin.value, configs.bremsMax.value, *raw_brems);
brems = map_analog_stick(configs.bremsMitte.value, configs.bremsMin.value, configs.bremsMax.value, configs.deadband.value, *raw_brems);
}
else
brems = std::nullopt;

48
main/utils.cpp
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@ -283,34 +283,46 @@ std::string local_clock_string()
return fmt::format("{:02d}:{:02d}:{:02d}", dt.hour, dt.minute, dt.second);
}
int16_t map_analog_stick(uint16_t middle, uint16_t start, uint16_t end, uint16_t raw)
int16_t map_analog_stick(uint16_t middle, uint16_t start, uint16_t end, uint16_t deadband, uint16_t raw)
{
if (abs(raw - middle) < configs.deadband.value)
{
return 0;
}
if (raw < middle)
if (start < end)
{
raw += configs.deadband.value;
start += configs.deadband.value;
const auto return_val = map(raw, start, middle, -1000, 0);
if (return_val > 0)
return 0;
if (return_val < -1000)
return -1000;
return return_val;
if (raw < middle)
{
raw += configs.deadband.value;
start += configs.deadband.value;
const auto return_val = cpputils::mapValueClamped<float>(raw, start, middle, -1000, 0);
return return_val;
}
else
{
raw -= configs.deadband.value;
end -= configs.deadband.value;
const auto return_val = cpputils::mapValueClamped<float>(raw, middle, end, 0, 1000);
return return_val;
}
}
else
{
raw -= configs.deadband.value;
end -= configs.deadband.value;
const auto return_val = map(raw, middle, end, 0, 1000);
if (return_val < 0)
return 0;
if (return_val > 1000)
return 1000;
return return_val;
if (raw < middle)
{
raw += configs.deadband.value;
end += configs.deadband.value;
const auto return_val = cpputils::mapValueClamped<float>(raw, end, middle, 1000, 0);
return return_val;
}
else
{
raw -= configs.deadband.value;
start -= configs.deadband.value;
const auto return_val = cpputils::mapValueClamped<float>(raw, middle, start, 0, -1000);
return return_val;
}
}
}

2
main/utils.h
View File

@ -60,7 +60,7 @@ float wattToAmpere(float watt);
float wattToMotorCurrent(float watt);
uint8_t time_to_percent(espchrono::milliseconds32 repeat, espchrono::milliseconds32 riseTime, espchrono::milliseconds32 fullTime, size_t numLeds, bool invert);
std::string local_clock_string();
int16_t map_analog_stick(uint16_t middle, uint16_t start, uint16_t end, uint16_t raw);
int16_t map_analog_stick(uint16_t middle, uint16_t start, uint16_t end, uint16_t deadband, uint16_t raw);
inline uint32_t CRGB_TO_UINT32(CRGB crgb)
{