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This commit is contained in:
CommanderRedYT
2022-01-22 01:18:06 +01:00
parent 62987cb374
commit fef3c2d5af
1 changed files with 7 additions and 38 deletions
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45
main/modes/wheelchairmode.cpp
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@ -183,48 +183,17 @@ void WheelchairMode::update()
}
else
{
if (gas_processed >= profileSettings.defaultMode.add_schwelle)
{
pwm = (gas_processed/1000.*profileSettings.defaultMode.gas1_wert) + (brems_processed/1000.*profileSettings.defaultMode.brems1_wert);
pwm = (gas_processed/1000.*profileSettings.defaultMode.gas1_wert) - (brems_processed/1000.*profileSettings.defaultMode.brems1_wert);
if ((profileSettings.defaultMode.enableSmoothingUp || profileSettings.defaultMode.enableSmoothingDown) && (pwm > 1000. || m_lastPwm > 1000.))
if (profileSettings.defaultMode.enableSmoothingUp || profileSettings.defaultMode.enableSmoothingDown)
{
if (m_lastPwm < pwm && profileSettings.defaultMode.enableSmoothingUp)
{
if (m_lastPwm < pwm && profileSettings.defaultMode.enableSmoothingUp)
{
pwm = std::min(pwm, m_lastPwm + (profileSettings.defaultMode.smoothing * std::chrono::milliseconds{now - m_lastTime}.count() / 100.f));
if (pwm < 1000.)
pwm = 1000.;
}
else if (m_lastPwm > pwm && profileSettings.defaultMode.enableSmoothingDown)
{
pwm = std::max(pwm, m_lastPwm - (profileSettings.defaultMode.smoothing * std::chrono::milliseconds{now - m_lastTime}.count() / 100.f));
}
pwm = std::min(pwm, m_lastPwm + (profileSettings.defaultMode.smoothing * std::chrono::milliseconds{now - m_lastTime}.count() / 100.f));
}
}
else
{
pwm = (gas_processed/1000.*profileSettings.defaultMode.gas2_wert) - (brems_processed/1000.*profileSettings.defaultMode.brems2_wert);
if (
(profileSettings.defaultMode.enableFieldWeakSmoothingUp || profileSettings.defaultMode.enableFieldWeakSmoothingDown) &&
(m_lastPwm > profileSettings.defaultMode.fwSmoothLowerLimit) &&
brems_processed > 0)
else if (m_lastPwm > pwm && profileSettings.defaultMode.enableSmoothingDown)
{
if (m_lastPwm < pwm && profileSettings.defaultMode.enableFieldWeakSmoothingUp)
{
auto effective_smoothing = profileSettings.defaultMode.smoothing;
auto difference_to_target = std::abs(pwm-m_lastPwm);
effective_smoothing *= std::max((difference_to_target / 500),0.5f);
pwm = std::min(pwm, m_lastPwm + (effective_smoothing * std::chrono::milliseconds{now - m_lastTime}.count() / 100.f));
}
else if (m_lastPwm > pwm && profileSettings.defaultMode.enableFieldWeakSmoothingDown)
{
auto effective_smoothing = profileSettings.defaultMode.smoothing;
auto difference_to_target = std::abs(pwm-m_lastPwm);
effective_smoothing *= std::max((difference_to_target / 500),0.5f);
pwm = std::max(pwm, m_lastPwm - (effective_smoothing * std::chrono::milliseconds{now - m_lastTime}.count() / 100.f));
}
pwm = std::max(pwm, m_lastPwm - (profileSettings.defaultMode.smoothing * std::chrono::milliseconds{now - m_lastTime}.count() / 100.f));
}
}