feedc0de/bobbycar-boardcomputer-firmware
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Removed copyFromSettings(); Added deadband

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This commit is contained in:
CommanderRedYT
2022-01-17 09:49:20 +01:00
parent 003e961c19
commit 8bbb098945
4 changed files with 13 additions and 18 deletions
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16
main/modes/wheelchairmode.cpp
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@@ -10,23 +10,11 @@ WheelchairMode wheelchairMode;
void WheelchairMode::start()
{
Base::start();
copyFromSettings();
}
// left_right gas
// front_back brems
void WheelchairMode::copyFromSettings()
{
m_gasMitte = configs.gasMitte.value;
m_gasMin = configs.gasMin.value;
m_gasMax = configs.gasMax.value;
m_bremsMitte = configs.bremsMitte.value;
m_bremsMin = configs.bremsMin.value;
m_bremsMax = configs.bremsMax.value;
}
void WheelchairMode::update()
{
auto pair = split(profileSettings.defaultMode.modelMode);
@@ -45,8 +33,8 @@ void WheelchairMode::update()
}
else
{
const auto left_right = m_gasMin == m_gasMax ? 0 : map_analog_stick(m_gasMitte, m_gasMin, m_gasMax, *raw_gas);
const auto front_back = m_bremsMin == m_bremsMax ? 0 : map_analog_stick(m_bremsMitte, m_bremsMin, m_bremsMax, *raw_brems);
const auto left_right = configs.gasMin.value == configs.gasMax.value ? 0 : map_analog_stick(configs.gasMitte.value, configs.gasMin.value, configs.gasMax.value, *raw_gas);
const auto front_back = configs.bremsMin.value == configs.bremsMax.value ? 0 : map_analog_stick(configs.bremsMitte.value, configs.bremsMin.value, configs.bremsMax.value, *raw_brems);
float local_gas = 0;
float local_brems = 0;

4
main/modes/wheelchairmode.h
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@@ -26,14 +26,10 @@ public:
bool waitForGasLoslass{false};
bool waitForBremsLoslass{false};
void copyFromSettings();
private:
espchrono::millis_clock::time_point m_lastTime{espchrono::millis_clock::now()};
float m_x{0};
float m_lastPwm{0};
int16_t m_gasMin, m_gasMax, m_bremsMin, m_bremsMax, m_gasMitte, m_bremsMitte;
};
namespace modes {

2
main/newsettings.h
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@@ -134,6 +134,7 @@ public:
ConfigWrapper<int16_t> bremsMin {0, DoReset, MinMaxValue<int16_t, 0, 4095>, "bremsMin" };
ConfigWrapper<int16_t> bremsMax {4096, DoReset, MinMaxValue<int16_t, 0, 4095>, "bremsMax" };
ConfigWrapper<int16_t> bremsMitte {2048, DoReset, MinMaxValue<int16_t, 0, 4095>, "bremsMiddle" };
ConfigWrapper<uint16_t> deadband {20, DoReset, MinMaxValue<uint16_t, 0, 4095>,"deadband" };
ConfigWrapper<uint8_t> dpadDebounce {25, DoReset, {}, "dpadDebounce" };
@@ -427,6 +428,7 @@ public:
x(bremsMin) \
x(bremsMax) \
x(bremsMitte) \
x(deadband) \
\
x(dpadDebounce) \
\

9
main/utils.cpp
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@@ -285,8 +285,15 @@ std::string local_clock_string()
int16_t map_analog_stick(uint16_t middle, uint16_t start, uint16_t end, uint16_t raw)
{
if (abs(raw - middle) < configs.deadband.value)
{
return 0;
}
if (raw < middle)
{
raw += configs.deadband.value;
end += configs.deadband.value;
const auto return_val = map(raw, start, middle, -1000, 0);
if (return_val > 0)
return 0;
@@ -296,6 +303,8 @@ int16_t map_analog_stick(uint16_t middle, uint16_t start, uint16_t end, uint16_t
}
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;