241 lines
8.9 KiB
C++
241 lines
8.9 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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auto pair = split(profileSettings.defaultMode.modelMode);
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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 = profileSettings.defaultMode.squareGas ? (local_gas * local_gas) / 1000.f : local_gas;
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auto brems_processed = profileSettings.defaultMode.squareBrems ? (local_brems * local_brems) / 1000 : local_brems;
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const auto now = espchrono::millis_clock::now();
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float pwm;
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if (configs.handbremse.enable.value && handbremse::stateWish == handbremse::StateWish::brake)
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{
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using namespace handbremse;
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const auto speed = abs(avgSpeedKmh);
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const bool gas_und_brems_ist_null = (gas_processed < 1 && brems_processed < 1);
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if (speed < 2 && gas_und_brems_ist_null)
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{
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angezogen = true;
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stateWish = StateWish::none;
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}
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}
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if (configs.handbremse.enable.value && configs.handbremse.automatic.value && !handbremse::angezogen)
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{
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using namespace handbremse;
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const auto speed = abs(avgSpeedKmh);
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if (speed < 1)
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{
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if (!standStillFirstDetected)
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{
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standStillFirstDetected = now;
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}
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}
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else
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standStillFirstDetected = std::nullopt;
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if (standStillFirstDetected && lastAutoRelease)
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if (espchrono::ago(*standStillFirstDetected) > 100ms * configs.handbremse.triggerTimeout.value && espchrono::ago(*lastAutoRelease) > 5s )
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{
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angezogen = true;
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}
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}
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if (handbremse::wishTimer)
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{
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using namespace handbremse;
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if (espchrono::ago(*wishTimer) > 5s)
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{
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stateWish = StateWish::none;
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wishTimer = std::nullopt;
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}
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}
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if (handbremse::angezogen)
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{
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using namespace handbremse;
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standStillFirstDetected = std::nullopt;
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const bool valid = (controllers.front.feedbackValid && controllers.back.feedbackValid);
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const bool gas_oder_brems = (gas_processed > 10 || brems_processed > 10);
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fixCommonParams();
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if (stateWish == StateWish::release)
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{
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lastAutoRelease = now;
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releaseTimer = now;
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stateWish = StateWish::none;
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finishedMotorUpdate = false;
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}
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if (valid && gas_oder_brems)
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{
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if (!releaseTimer)
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{
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lastAutoRelease = now;
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releaseTimer = now;
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finishedMotorUpdate = false;
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}
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}
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if (releaseTimer)
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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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if (espchrono::ago(*releaseTimer) > 1s || finishedMotorUpdate)
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{
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releaseTimer = std::nullopt;
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angezogen = false;
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}
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}
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else
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{
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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 (configs.handbremse.mode.value)
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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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}
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else
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{
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if (gas_processed >= profileSettings.defaultMode.add_schwelle)
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{
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pwm = (gas_processed/1000.*profileSettings.defaultMode.gas1_wert) + (brems_processed/1000.*profileSettings.defaultMode.brems1_wert);
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if ((profileSettings.defaultMode.enableSmoothingUp || profileSettings.defaultMode.enableSmoothingDown) && (pwm > 1000. || m_lastPwm > 1000.))
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{
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if (m_lastPwm < pwm && profileSettings.defaultMode.enableSmoothingUp)
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{
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pwm = std::min(pwm, m_lastPwm + (profileSettings.defaultMode.smoothing * std::chrono::floor<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 && profileSettings.defaultMode.enableSmoothingDown)
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{
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pwm = std::max(pwm, m_lastPwm - (profileSettings.defaultMode.smoothing * std::chrono::floor<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.*profileSettings.defaultMode.gas2_wert) - (brems_processed/1000.*profileSettings.defaultMode.brems2_wert);
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if (
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(profileSettings.defaultMode.enableFieldWeakSmoothingUp || profileSettings.defaultMode.enableFieldWeakSmoothingDown) &&
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(m_lastPwm > profileSettings.defaultMode.fwSmoothLowerLimit) &&
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brems_processed > 0)
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{
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if (m_lastPwm < pwm && profileSettings.defaultMode.enableFieldWeakSmoothingUp)
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{
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auto effective_smoothing = profileSettings.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::floor<std::chrono::milliseconds>(now - m_lastTime).count() / 100.f));
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}
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else if (m_lastPwm > pwm && profileSettings.defaultMode.enableFieldWeakSmoothingDown)
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{
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auto effective_smoothing = profileSettings.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::floor<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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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. * profileSettings.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. * profileSettings.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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}
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}
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sendCommands();
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}
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