235 lines
9.3 KiB
C++
235 lines
9.3 KiB
C++
#include "defaultmode.h"
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using namespace std::chrono_literals;
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namespace modes {
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DefaultMode defaultMode;
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} // namespace modes
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void DefaultMode::start()
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{
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Base::start();
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}
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void DefaultMode::update()
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{
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if (!gas || !brems)
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{
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start();
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for (bobbycar::protocol::serial::MotorState &motor : motors())
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{
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motor.ctrlTyp = bobbycar::protocol::ControlType::FieldOrientedControl;
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motor.ctrlMod = bobbycar::protocol::ControlMode::OpenMode;
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motor.pwm = 0;
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motor.cruiseCtrlEna = false;
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motor.nCruiseMotTgt = 0;
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}
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}
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else
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{
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float local_gas = *gas;
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float local_brems = *brems;
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if (waitForGasLoslass)
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{
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if (local_gas < 50)
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waitForGasLoslass = false;
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else
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local_gas = 0;
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}
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if (waitForBremsLoslass)
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{
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if (local_brems < 50)
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waitForBremsLoslass = false;
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else
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local_brems = 0;
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}
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auto gas_processed = settings.defaultMode.squareGas ? (local_gas * local_gas) / 1000.f : local_gas;
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auto brems_processed = settings.defaultMode.squareBrems ? (local_brems * local_brems) / 1000 : local_brems;
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const auto c_gas_processed = gas_processed;
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const auto c_brems_processed = brems_processed;
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const auto now = espchrono::millis_clock::now();
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if (!settings.handbremse.enable)
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goto hell;
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if (settings.handbremse.automatic && settings.handbremse.enable && settings.handbremse.mode == HandbremseMode::SPEED_0 && (abs(gas_processed) > 0 || abs(brems_processed) > 0))
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{
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if (handbremse::handbremseAngezogen && !m_handbrems_timer)
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m_handbrems_timer = now;
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goto hell;
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}
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if ((abs(gas_processed) > 10 || abs(brems_processed) > 10) || (!overrideHandbremse && (abs(avgSpeedKmh) > 2 || !controllers.front.feedbackValid || !controllers.back.feedbackValid || settings.handbremse.triggerTimeout < 1 || !settings.handbremse.automatic)))
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{
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m_stillSince = std::nullopt;
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overrideHandbremse = false;
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goto hell;
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}
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else if (!overrideHandbremse && !m_stillSince)
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{
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m_stillSince = now;
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goto hell;
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}
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else if (((settings.handbremse.mode != HandbremseMode::SPEED_0 && abs(avgSpeedKmh) <= 2) || (settings.handbremse.mode == HandbremseMode::SPEED_0 && abs(avgSpeedKmh) <= 1)) && (overrideHandbremse || espchrono::ago(*m_stillSince) >= espchrono::milliseconds32(settings.handbremse.triggerTimeout * 100)))
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{
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handbremse::handbremseAngezogen = true;
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fixCommonParams();
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for (bobbycar::protocol::serial::MotorState &motor : motors())
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{
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motor.ctrlTyp = bobbycar::protocol::ControlType::FieldOrientedControl;
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switch (settings.handbremse.mode)
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{
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case HandbremseMode::MOSFETS_OFF:
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motor.ctrlMod = bobbycar::protocol::ControlMode::Torque;
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motor.enable = false;
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break;
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case HandbremseMode::OPENMODE:
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motor.ctrlMod = bobbycar::protocol::ControlMode::OpenMode;
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break;
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case HandbremseMode::SPEED_0:
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motor.ctrlMod = bobbycar::protocol::ControlMode::Speed;
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break;
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}
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motor.pwm = 0;
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motor.cruiseCtrlEna = false;
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motor.nCruiseMotTgt = 0;
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}
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}
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else
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{
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hell:
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handbremse::handbremseAngezogen = false;
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float pwm;
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if (m_handbrems_timer && settings.handbremse.automatic && settings.handbremse.enable && settings.handbremse.mode == HandbremseMode::SPEED_0 && (abs(c_gas_processed) > 0 || abs(c_brems_processed) > 0))
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{
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if (espchrono::ago(*m_handbrems_timer) < 300ms)
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{
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gas_processed = 0;
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brems_processed = 0;
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m_lastPwm = 0;
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}
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}
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if (gas_processed >= settings.defaultMode.add_schwelle)
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{
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pwm = (gas_processed/1000.*settings.defaultMode.gas1_wert) + (brems_processed/1000.*settings.defaultMode.brems1_wert);
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if ((settings.defaultMode.enableSmoothingUp || settings.defaultMode.enableSmoothingDown) && (pwm > 1000. || m_lastPwm > 1000.))
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{
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if (m_lastPwm < pwm && settings.defaultMode.enableSmoothingUp)
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{
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pwm = std::min(pwm, m_lastPwm + (settings.defaultMode.smoothing * std::chrono::milliseconds{now - m_lastTime}.count() / 100.f));
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if (pwm < 1000.)
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pwm = 1000.;
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}
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else if (m_lastPwm > pwm && settings.defaultMode.enableSmoothingDown)
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{
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pwm = std::max(pwm, m_lastPwm - (settings.defaultMode.smoothing * std::chrono::milliseconds{now - m_lastTime}.count() / 100.f));
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}
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}
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}
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else
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{
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pwm = (gas_processed/1000.*settings.defaultMode.gas2_wert) - (brems_processed/1000.*settings.defaultMode.brems2_wert);
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if (
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(settings.defaultMode.enableFieldWeakSmoothingUp || settings.defaultMode.enableFieldWeakSmoothingDown) &&
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(m_lastPwm > settings.defaultMode.fwSmoothLowerLimit) &&
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brems_processed > 0)
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{
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if (m_lastPwm < pwm && settings.defaultMode.enableFieldWeakSmoothingUp)
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{
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auto effective_smoothing = settings.defaultMode.smoothing;
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auto difference_to_target = std::abs(pwm-m_lastPwm);
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effective_smoothing *= std::max((difference_to_target / 500),0.5f);
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pwm = std::min(pwm, m_lastPwm + (effective_smoothing * std::chrono::milliseconds{now - m_lastTime}.count() / 100.f));
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}
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else if (m_lastPwm > pwm && settings.defaultMode.enableFieldWeakSmoothingDown)
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{
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auto effective_smoothing = settings.defaultMode.smoothing;
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auto difference_to_target = std::abs(pwm-m_lastPwm);
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effective_smoothing *= std::max((difference_to_target / 500),0.5f);
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pwm = std::max(pwm, m_lastPwm - (effective_smoothing * std::chrono::milliseconds{now - m_lastTime}.count() / 100.f));
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}
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}
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}
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m_lastPwm = pwm;
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m_lastTime = now;
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auto pair = split(settings.defaultMode.modelMode);
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if (settings.hybrid.enable)
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{
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auto activationLimit = settings.hybrid.activationLimit;
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auto deactivationLimit = settings.hybrid.deactivationLimit;
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auto diff = std::abs(activationLimit - deactivationLimit);
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if (diff < 20)
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{
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int half = (diff / 2) + 0.5;
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deactivationLimit -= half;
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activationLimit += half;
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}
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if (!hybridModeActivated && (pwm > activationLimit))
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{
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hybridModeActivated = true;
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}
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else if (hybridModeActivated && (pwm < deactivationLimit))
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{
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hybridModeActivated = false;
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}
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if (hybridModeActivated)
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{
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pair = split(settings.hybrid.hybridMode);
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}
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}
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for (bobbycar::protocol::serial::MotorState &motor : motorsInController(controllers.front))
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{
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motor.ctrlTyp = pair.first;
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motor.ctrlMod = pair.second;
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motor.pwm = pwm / 100. * settings.defaultMode.frontPercentage;
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motor.cruiseCtrlEna = false;
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motor.nCruiseMotTgt = 0;
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}
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for (bobbycar::protocol::serial::MotorState &motor : motorsInController(controllers.back))
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{
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motor.ctrlTyp = pair.first;
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motor.ctrlMod = pair.second;
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motor.pwm = pwm / 100. * settings.defaultMode.backPercentage;
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motor.cruiseCtrlEna = false;
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motor.nCruiseMotTgt = 0;
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}
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fixCommonParams();
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if (m_handbrems_timer && settings.handbremse.automatic && settings.handbremse.enable && settings.handbremse.mode == HandbremseMode::SPEED_0 && (abs(c_gas_processed) > 0 || abs(c_brems_processed) > 0))
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{
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if (espchrono::ago(*m_handbrems_timer) < 100ms)
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{
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for (bobbycar::protocol::serial::MotorState &motor : motors())
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{
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motor.pwm = 0;
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motor.ctrlTyp = pair.first;
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motor.ctrlMod = pair.second;
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}
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}
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else
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m_handbrems_timer = std::nullopt;
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}
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}
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}
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sendCommands();
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}
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