feedc0de/bobbycar-boardcomputer-firmware
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Fixed speed 0 mode 'quickstart'

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This commit is contained in:
CommanderRedYT
2021-12-06 00:36:24 +01:00
parent 0df45e74f2
commit 2101077f42
2 changed files with 37 additions and 3 deletions
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39
main/modes/defaultmode.cpp
View File

@@ -1,5 +1,7 @@
#include "defaultmode.h"
using namespace std::chrono_literals;
namespace modes {
DefaultMode defaultMode;
} // namespace modes
@@ -45,8 +47,10 @@ void DefaultMode::update()
local_brems = 0;
}
const auto gas_processed = settings.defaultMode.squareGas ? (local_gas * local_gas) / 1000.f : local_gas;
const auto brems_processed = settings.defaultMode.squareBrems ? (local_brems * local_brems) / 1000 : local_brems;
auto gas_processed = settings.defaultMode.squareGas ? (local_gas * local_gas) / 1000.f : local_gas;
auto brems_processed = settings.defaultMode.squareBrems ? (local_brems * local_brems) / 1000 : local_brems;
const auto c_gas_processed = gas_processed;
const auto c_brems_processed = brems_processed;
const auto now = espchrono::millis_clock::now();
@@ -54,7 +58,11 @@ void DefaultMode::update()
goto hell;
if (settings.handbremse.automatic && settings.handbremse.enable && settings.handbremse.mode == HandbremseMode::SPEED_0 && (abs(gas_processed) > 0 || abs(brems_processed) > 0))
{
if (handbremse::handbremseAngezogen && !m_handbrems_timer)
m_handbrems_timer = now;
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)))
{
@@ -67,7 +75,7 @@ void DefaultMode::update()
m_stillSince = now;
goto hell;
}
else if ((abs(avgSpeedKmh) <= 2) && (overrideHandbremse || espchrono::ago(*m_stillSince) >= espchrono::milliseconds32(settings.handbremse.triggerTimeout)))
else if (((settings.handbremse.mode != HandbremseMode::SPEED_0 && abs(avgSpeedKmh) <= 2) || (settings.handbremse.mode == HandbremseMode::SPEED_0 && abs(avgSpeedKmh) <= 1)) && (overrideHandbremse || espchrono::ago(*m_stillSince) >= espchrono::milliseconds32(settings.handbremse.triggerTimeout * 100)))
{
handbremse::handbremseAngezogen = true;
fixCommonParams();
@@ -98,6 +106,16 @@ void DefaultMode::update()
hell:
handbremse::handbremseAngezogen = false;
float pwm;
if (m_handbrems_timer && settings.handbremse.automatic && settings.handbremse.enable && settings.handbremse.mode == HandbremseMode::SPEED_0 && (abs(c_gas_processed) > 0 || abs(c_brems_processed) > 0))
{
if (espchrono::ago(*m_handbrems_timer) < 400ms)
{
gas_processed = 0;
brems_processed = 0;
}
}
if (gas_processed >= settings.defaultMode.add_schwelle)
{
pwm = (gas_processed/1000.*settings.defaultMode.gas1_wert) + (brems_processed/1000.*settings.defaultMode.brems1_wert);
@@ -193,6 +211,21 @@ hell:
motor.nCruiseMotTgt = 0;
}
fixCommonParams();
if (m_handbrems_timer && settings.handbremse.automatic && settings.handbremse.enable && settings.handbremse.mode == HandbremseMode::SPEED_0 && (abs(c_gas_processed) > 0 || abs(c_brems_processed) > 0))
{
if (espchrono::ago(*m_handbrems_timer) < 200ms)
{
for (bobbycar::protocol::serial::MotorState &motor : motors())
{
motor.pwm = 0;
motor.ctrlTyp = pair.first;
motor.ctrlMod = pair.second;
}
}
else
m_handbrems_timer = std::nullopt;
}
}
}

1
main/modes/defaultmode.h
View File

@@ -31,6 +31,7 @@ private:
espchrono::millis_clock::time_point m_lastTime{espchrono::millis_clock::now()};
float m_lastPwm{0};
std::optional<espchrono::millis_clock::time_point> m_stillSince;
std::optional<espchrono::millis_clock::time_point> m_handbrems_timer;
};
namespace modes {