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Implemented basic self driving behaviour with gametrak

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This commit is contained in:
0xFEEDC0DE64
2020-06-01 01:36:11 +02:00
parent f4ab8c3fbd
commit 8f96a32b57
2 changed files with 12 additions and 3 deletions
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4
platformio.ini
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@ -99,8 +99,8 @@ build_flags =
-DFEATURE_BMS -DFEATURE_BMS
-DFEATURE_GAMETRAK -DFEATURE_GAMETRAK
-DPINS_GAMETRAKX=34 -DPINS_GAMETRAKX=34
-DPINS_GAMETRAKY=36 -DPINS_GAMETRAKY=39
-DPINS_GAMETRAKDIST=39 -DPINS_GAMETRAKDIST=36
-DDEFAULT_GAMETRAKXMIN=0 -DDEFAULT_GAMETRAKXMIN=0
-DDEFAULT_GAMETRAKXMAX=4095 -DDEFAULT_GAMETRAKXMAX=4095
-DDEFAULT_GAMETRAKYMIN=0 -DDEFAULT_GAMETRAKYMIN=0

11
src/modes/gametrakmode.h
View File

@ -3,6 +3,7 @@
#include "modeinterface.h" #include "modeinterface.h"
#include "globals.h" #include "globals.h"
#include "utils.h" #include "utils.h"
#include "defaultmode.h"
#include "bobbycar-protocol/protocol.h" #include "bobbycar-protocol/protocol.h"
@ -22,11 +23,19 @@ GametrakMode gametrakMode;
void GametrakMode::update() void GametrakMode::update()
{ {
if (gas > 500. || brems > 500.)
{
modes::defaultMode.waitForGasLoslass = true;
modes::defaultMode.waitForBremsLoslass = true;
currentMode = &modes::defaultMode;
return;
}
for (MotorState &motor : motors()) for (MotorState &motor : motors())
{ {
motor.ctrlTyp = ControlType::FieldOrientedControl; motor.ctrlTyp = ControlType::FieldOrientedControl;
motor.ctrlMod = ControlMode::Speed; motor.ctrlMod = ControlMode::Speed;
motor.pwm = 0; motor.pwm = gametrakDist > 200 ? 20 : 0;
} }
fixCommonParams(); fixCommonParams();