feedc0de/bobbycar-boardcomputer-firmware
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Fixed project for new submodules

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This commit is contained in:
CommanderRedYT
2022-04-29 22:40:49 +02:00
parent 84a1cd40e9
commit 91880608dc
66 changed files with 632 additions and 561 deletions
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30
main/utils.cpp
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@ -12,12 +12,12 @@ espchrono::millis_clock::time_point lastReverseBeepToggle;
float convertToKmh(float val)
{
return val /* / profileSettings.controllerHardware.numMagnetPoles */ / 60.f * configs.controllerHardware.wheelDiameter.value / 1000.f * 3.14159265359f * 3.6f;
return val /* / profileSettings.controllerHardware.numMagnetPoles */ / 60.f * configs.controllerHardware.wheelDiameter.value() / 1000.f * 3.14159265359f * 3.6f;
}
float convertFromKmh(float val)
{
return val /* * profileSettings.controllerHardware.numMagnetPoles */ * 60.f / configs.controllerHardware.wheelDiameter.value * 1000.f / 3.14159265359f / 3.6f;
return val /* * profileSettings.controllerHardware.numMagnetPoles */ * 60.f / configs.controllerHardware.wheelDiameter.value() * 1000.f / 3.14159265359f / 3.6f;
}
float convertToInch(float val)
@ -109,7 +109,7 @@ void fixCommonParams()
motor.phaseAdvMax = profileSettings.limits.phaseAdvMax;
}
if (configs.reverseBeep.value)
if (configs.reverseBeep.value())
{
const auto x = motors();
const auto shouldBeep = std::all_of(std::begin(x), std::end(x), [](const bobbycar::protocol::serial::MotorState &motor){ return motor.pwm < 0; });
@ -121,7 +121,7 @@ void fixCommonParams()
reverseBeepToggle = true;
lastReverseBeepToggle = espchrono::millis_clock::now();
for (auto &controller : controllers)
controller.command.buzzer = {.freq=configs.reverseBeepFreq0.value, .pattern=0};
controller.command.buzzer = {.freq=configs.reverseBeepFreq0.value(), .pattern=0};
}
else
for (auto &controller : controllers)
@ -129,12 +129,12 @@ void fixCommonParams()
currentlyReverseBeeping = shouldBeep;
}
else if (shouldBeep && espchrono::millis_clock::now() - lastReverseBeepToggle >= std::chrono::milliseconds{reverseBeepToggle?configs.reverseBeepDuration0.value:configs.reverseBeepDuration1.value})
else if (shouldBeep && espchrono::millis_clock::now() - lastReverseBeepToggle >= std::chrono::milliseconds{reverseBeepToggle?configs.reverseBeepDuration0.value():configs.reverseBeepDuration1.value()})
{
reverseBeepToggle = !reverseBeepToggle;
for (auto &controller : controllers)
controller.command.buzzer = {.freq=uint8_t(reverseBeepToggle?configs.reverseBeepFreq0.value:configs.reverseBeepFreq1.value), .pattern=0};
controller.command.buzzer = {.freq=uint8_t(reverseBeepToggle?configs.reverseBeepFreq0.value():configs.reverseBeepFreq1.value()), .pattern=0};
lastReverseBeepToggle = espchrono::millis_clock::now();
}
@ -285,7 +285,7 @@ std::string local_clock_string()
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)
if (abs(raw - middle) < configs.deadband.value())
{
return 0;
}
@ -294,15 +294,15 @@ int16_t map_analog_stick(uint16_t middle, uint16_t start, uint16_t end, uint16_t
{
if (raw < middle)
{
raw += configs.deadband.value;
start += configs.deadband.value;
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;
raw -= configs.deadband.value();
end -= configs.deadband.value();
const auto return_val = cpputils::mapValueClamped<float>(raw, middle, end, 0, 1000);
return return_val;
}
@ -311,15 +311,15 @@ int16_t map_analog_stick(uint16_t middle, uint16_t start, uint16_t end, uint16_t
{
if (raw < middle)
{
raw += configs.deadband.value;
end += configs.deadband.value;
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;
raw -= configs.deadband.value();
start -= configs.deadband.value();
const auto return_val = cpputils::mapValueClamped<float>(raw, middle, start, 0, -1000);
return return_val;
}