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Merge pull request #83 from bobbycar-graz/smoothfw

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Smoothfw
This commit is contained in:
CommanderRedYT
2021-09-23 21:51:45 +02:00
committed by GitHub
parent e4b3d4cc40 2acac79173
commit 5e355feea9
6 changed files with 73 additions and 12 deletions
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8
main/accessors/settingsaccessors.h
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@ -128,7 +128,13 @@ struct CloudSendRateAccessor : public RefAccessorSaveSettings<int16_t> { int16_t
struct DefaultModeModelModeAccessor : public RefAccessorSaveSettings<UnifiedModelMode> { UnifiedModelMode &getRef() const override { return settings.defaultMode.modelMode; } };
struct DefaultModeSquareGasAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.defaultMode.squareGas; } };
struct DefaultModeSquareBremsAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.defaultMode.squareBrems; } };
struct DefaultModeEnableSmoothingAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.defaultMode.enableSmoothing; } };
struct DefaultModeEnableSmoothingUpAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.defaultMode.enableSmoothingUp; } };
struct DefaultModeEnableSmoothingDownAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.defaultMode.enableSmoothingDown; } };
struct DefaultModeEnableFieldWeakSmoothingUpAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.defaultMode.enableFieldWeakSmoothingUp; } };
struct DefaultModeEnableFieldWeakSmoothingDownAccessor : public RefAccessorSaveSettings<bool> { bool &getRef() const override { return settings.defaultMode.enableFieldWeakSmoothingDown; } };
struct DefaultModeEnableFieldWeakSmoothingLowerLimitAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.defaultMode.fwSmoothLowerLimit; } };
struct DefaultModeSmoothingAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.defaultMode.smoothing; } };
struct DefaultModeFrontPercentageAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.defaultMode.frontPercentage; } };
struct DefaultModeBackPercentageAccessor : public RefAccessorSaveSettings<int16_t> { int16_t &getRef() const override { return settings.defaultMode.backPercentage; } };

13
main/displays/menus/defaultmodesettingsmenu.h
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@ -36,6 +36,13 @@ using DefaultModeSmoothingChangeDisplay = makeComponent<
BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
SwitchScreenAction<DefaultModeSettingsMenu>
>;
using DefaultModeFwSmoothingLowerLimitChangeDisplay = makeComponent<
ChangeValueDisplay<int16_t>,
StaticText<TEXT_FWSMOOTHING_LIMIT>,
DefaultModeEnableFieldWeakSmoothingLowerLimitAccessor,
BackActionInterface<SwitchScreenAction<DefaultModeSettingsMenu>>,
SwitchScreenAction<DefaultModeSettingsMenu>
>;
using DefaultModeFrontPercentageChangeDisplay = makeComponent<
ChangeValueDisplay<int16_t>,
StaticText<TEXT_FRONTPERCENTAGE>,
@ -97,7 +104,11 @@ public:
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_MODELMODE>, SwitchScreenAction<DefaultModeModelModeChangeDisplay>>>();
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SQUAREGAS>, ToggleBoolAction, CheckboxIcon, DefaultModeSquareGasAccessor>>();
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_SQUAREBREMS>, ToggleBoolAction, CheckboxIcon, DefaultModeSquareBremsAccessor>>();
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_ENABLESMOOTHING>, ToggleBoolAction, CheckboxIcon, DefaultModeEnableSmoothingAccessor>>();
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_ENABLESMOOTHINGUP>, ToggleBoolAction, CheckboxIcon, DefaultModeEnableSmoothingUpAccessor>>();
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_ENABLESMOOTHINGDOWN>, ToggleBoolAction, CheckboxIcon, DefaultModeEnableSmoothingDownAccessor>>();
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_ENABLEFWSMOOTHINGUP>, ToggleBoolAction, CheckboxIcon, DefaultModeEnableFieldWeakSmoothingUpAccessor>>();
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_ENABLEFWSMOOTHINGDOWN>, ToggleBoolAction, CheckboxIcon, DefaultModeEnableFieldWeakSmoothingDownAccessor>>();
constructMenuItem<makeComponent<MenuItem, TextWithValueHelper<TEXT_FWSMOOTHING_LIMIT, DefaultModeEnableFieldWeakSmoothingLowerLimitAccessor>, SwitchScreenAction<DefaultModeFwSmoothingLowerLimitChangeDisplay>>>();
constructMenuItem<makeComponent<MenuItem, TextWithValueHelper<TEXT_SMOOTHINGVAL, DefaultModeSmoothingAccessor>, SwitchScreenAction<DefaultModeSmoothingChangeDisplay>>>();
constructMenuItem<makeComponent<MenuItem, TextWithValueHelper<TEXT_FRONTPERCENTAGE, DefaultModeFrontPercentageAccessor>, SwitchScreenAction<DefaultModeFrontPercentageChangeDisplay>>>();
constructMenuItem<makeComponent<MenuItem, TextWithValueHelper<TEXT_BACKPERCENTAGE, DefaultModeBackPercentageAccessor>, SwitchScreenAction<DefaultModeBackPercentageChangeDisplay>>>();

30
main/modes/defaultmode.h
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@ -84,22 +84,46 @@ void DefaultMode::update()
{
pwm = (gas_processed/1000.*settings.defaultMode.gas1_wert) + (brems_processed/1000.*settings.defaultMode.brems1_wert);
if (settings.defaultMode.enableSmoothing && (pwm > 1000. || lastPwm > 1000.))
if ((settings.defaultMode.enableSmoothingUp || settings.defaultMode.enableSmoothingDown) && (pwm > 1000. || lastPwm > 1000.))
{
if (lastPwm < pwm)
if (lastPwm < pwm && settings.defaultMode.enableSmoothingUp)
{
pwm = std::min(pwm, lastPwm + (settings.defaultMode.smoothing * std::chrono::milliseconds{now - lastTime}.count() / 100.f));
if (pwm < 1000.)
pwm = 1000.;
}
else if (lastPwm > pwm)
else if (lastPwm > pwm && settings.defaultMode.enableSmoothingDown)
{
pwm = std::max(pwm, lastPwm - (settings.defaultMode.smoothing * std::chrono::milliseconds{now - lastTime}.count() / 100.f));
}
}
}
else
{
pwm = (gas_processed/1000.*settings.defaultMode.gas2_wert) - (brems_processed/1000.*settings.defaultMode.brems2_wert);
if (
(settings.defaultMode.enableFieldWeakSmoothingUp || settings.defaultMode.enableFieldWeakSmoothingDown) &&
(lastPwm > settings.defaultMode.fwSmoothLowerLimit) &&
brems_processed > 0)
{
if (lastPwm < pwm && settings.defaultMode.enableFieldWeakSmoothingUp)
{
auto effective_smoothing = settings.defaultMode.smoothing;
auto difference_to_target = std::abs(pwm-lastPwm);
effective_smoothing *= std::max((difference_to_target / 500),0.5f);
pwm = std::min(pwm, lastPwm + (effective_smoothing * std::chrono::milliseconds{now - lastTime}.count() / 100.f));
}
else if (lastPwm > pwm && settings.defaultMode.enableFieldWeakSmoothingDown)
{
auto effective_smoothing = settings.defaultMode.smoothing;
auto difference_to_target = std::abs(pwm-lastPwm);
effective_smoothing *= std::max((difference_to_target / 500),0.5f);
pwm = std::max(pwm, lastPwm - (effective_smoothing * std::chrono::milliseconds{now - lastTime}.count() / 100.f));
}
}
}
lastPwm = pwm;
lastTime = now;

16
main/presets.h
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@ -178,7 +178,10 @@ constexpr Settings::DefaultMode defaultDefaultMode {
.modelMode = UnifiedModelMode::FocTorque,
.squareGas = true,
.squareBrems = true,
.enableSmoothing = true,
.enableSmoothingUp = true,
.enableSmoothingDown = true,
.enableFieldWeakSmoothingUp = false,
.enableFieldWeakSmoothingDown = false,
.smoothing = 20,
.frontPercentage = 100,
.backPercentage = 100,
@ -186,14 +189,18 @@ constexpr Settings::DefaultMode defaultDefaultMode {
.gas1_wert = 1250,
.gas2_wert = 1250,
.brems1_wert = 250,
.brems2_wert = 750
.brems2_wert = 750,
.fwSmoothLowerLimit = 800
};
constexpr Settings::DefaultMode sinusoidalDefaultMode {
.modelMode = UnifiedModelMode::Sinusoidal,
.squareGas = true,
.squareBrems = true,
.enableSmoothing = true,
.enableSmoothingUp = true,
.enableSmoothingDown = true,
.enableFieldWeakSmoothingUp = false,
.enableFieldWeakSmoothingDown = false,
.smoothing = 20,
.frontPercentage = 100,
.backPercentage = 100,
@ -201,7 +208,8 @@ constexpr Settings::DefaultMode sinusoidalDefaultMode {
.gas1_wert = 1250,
.gas2_wert = 1250,
.brems1_wert = 150,
.brems2_wert = 1000
.brems2_wert = 1000,
.fwSmoothLowerLimit = 800
};
constexpr Settings::TempomatMode defaultTempomatMode {

12
main/settings.h
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@ -127,7 +127,10 @@ struct Settings
UnifiedModelMode modelMode;
bool squareGas;
bool squareBrems;
bool enableSmoothing;
bool enableSmoothingUp;
bool enableSmoothingDown;
bool enableFieldWeakSmoothingUp;
bool enableFieldWeakSmoothingDown;
int16_t smoothing;
int16_t frontPercentage;
int16_t backPercentage;
@ -136,6 +139,7 @@ struct Settings
int16_t gas2_wert;
int16_t brems1_wert;
int16_t brems2_wert;
int16_t fwSmoothLowerLimit;
} defaultMode;
struct TempomatMode {
@ -280,7 +284,11 @@ void Settings::executeForEveryProfileSetting(T &&callable)
callable("invertBackRight", controllerHardware.invertBackRight);
callable("default.modelMo", defaultMode.modelMode);
callable("default.enableS", defaultMode.enableSmoothing);
callable("default.enSmUp_", defaultMode.enableSmoothingUp);
callable("default.enSmDow", defaultMode.enableSmoothingDown);
callable("default.enSmFUp", defaultMode.enableFieldWeakSmoothingUp);
callable("default.enSmFDo", defaultMode.enableFieldWeakSmoothingDown);
callable("default.fwSmLLi", defaultMode.fwSmoothLowerLimit);
callable("default.smoothi", defaultMode.smoothing);
callable("default.frontPe", defaultMode.frontPercentage);
callable("default.backPer", defaultMode.backPercentage);

6
main/texts.h
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@ -170,7 +170,11 @@ constexpr char TEXT_DYNAMICMENU[] = "Dynamic menu";
constexpr char TEXT_MODELMODE[] = "Model mode";
constexpr char TEXT_SQUAREGAS[] = "Square gas";
constexpr char TEXT_SQUAREBREMS[] = "Square brems";
constexpr char TEXT_ENABLESMOOTHING[] = "Enable smoothing";
constexpr char TEXT_ENABLESMOOTHINGUP[] = "Enable up smoothing";
constexpr char TEXT_ENABLESMOOTHINGDOWN[] = "Enable down smoothing";
constexpr char TEXT_ENABLEFWSMOOTHINGUP[] = "Enable fw up smoothing";
constexpr char TEXT_ENABLEFWSMOOTHINGDOWN[] = "Enable fw down smoothing";
constexpr char TEXT_FWSMOOTHING_LIMIT[] = "Fw smooth lower limit";
constexpr char TEXT_SMOOTHINGVAL[] = "Smoothing";
constexpr char TEXT_FRONTPERCENTAGE[] = "Front %";
constexpr char TEXT_BACKPERCENTAGE[] = "Back %";