forked from EFeru/hoverboard-firmware-hack-FOC
Merge branch 'EFeru:master' into master
This commit is contained in:
Candas1
GitHub
21
.github/ISSUE_TEMPLATE/bug_report.md
vendored
Normal file
21
.github/ISSUE_TEMPLATE/bug_report.md
vendored
Normal file
@ -0,0 +1,21 @@
|
||||
---
|
||||
name: Bug report
|
||||
about: Create a report to help us improve
|
||||
title: ''
|
||||
labels: bug
|
||||
assignees: ''
|
||||
|
||||
---
|
||||
|
||||
### Your System
|
||||
- VARIANT:
|
||||
- CONTROL TYPE:
|
||||
- CONTROL MODE:
|
||||
- What is your application?
|
||||
- Hovercar, Skateboard, RC platform, etc.
|
||||
|
||||
Describe the bug and how we can reproduce it.
|
||||
|
||||
```c
|
||||
// a code sample may improve communication
|
||||
```
|
||||
14
.github/ISSUE_TEMPLATE/idea---feature-request.md
vendored
Normal file
14
.github/ISSUE_TEMPLATE/idea---feature-request.md
vendored
Normal file
@ -0,0 +1,14 @@
|
||||
---
|
||||
name: Idea / Feature request
|
||||
about: Suggest an idea for this project
|
||||
title: ''
|
||||
labels: enhancement
|
||||
assignees: ''
|
||||
|
||||
---
|
||||
|
||||
**What can we do to make the firmware better?**
|
||||
Consider if code examples or images would help communicate your request.
|
||||
|
||||
**Describe suggestions or alternatives you have considered**
|
||||
A clear and concise description of any alternative solutions or features you've considered.
|
||||
26
.github/ISSUE_TEMPLATE/question-about-the-firmware.md
vendored
Normal file
26
.github/ISSUE_TEMPLATE/question-about-the-firmware.md
vendored
Normal file
@ -0,0 +1,26 @@
|
||||
---
|
||||
name: Question about the firmware
|
||||
about: How to use the firmware to...
|
||||
title: ''
|
||||
labels: question
|
||||
assignees: ''
|
||||
|
||||
---
|
||||
|
||||
### Your System
|
||||
- VARIANT:
|
||||
- CONTROL TYPE:
|
||||
- CONTROL MODE:
|
||||
- What is your application?
|
||||
- Hovercar, Skateboard, RC platform, etc.
|
||||
|
||||
**Before asking a question** see if it is already answered in:
|
||||
* [Wiki pages](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/wiki)
|
||||
|
||||
**Indicate what you have tried:**
|
||||
If applicable, indicate what you tried that _doesn't_ work:
|
||||
|
||||
```c
|
||||
input1[inIdx].raw = adc_buffer.l_rx2;
|
||||
input2[inIdx].raw = adc_buffer.l_tx2
|
||||
```
|
||||
@ -11,6 +11,8 @@
|
||||
// it is recommended to use the built-in Serial interface for full speed perfomace.
|
||||
// • The data packaging includes a Start Frame, checksum, and re-syncronization capability for reliable communication
|
||||
//
|
||||
// The code starts with zero speed and moves towards +
|
||||
//
|
||||
// CONFIGURATION on the hoverboard side in config.h:
|
||||
// • Option 1: Serial on Right Sensor cable (short wired cable) - recommended, since the USART3 pins are 5V tolerant.
|
||||
// #define CONTROL_SERIAL_USART3
|
||||
@ -28,6 +30,7 @@
|
||||
#define START_FRAME 0xABCD // [-] Start frme definition for reliable serial communication
|
||||
#define TIME_SEND 100 // [ms] Sending time interval
|
||||
#define SPEED_MAX_TEST 300 // [-] Maximum speed for testing
|
||||
#define SPEED_STEP 20 // [-] Speed step
|
||||
// #define DEBUG_RX // [-] Debug received data. Prints all bytes to serial (comment-out to disable)
|
||||
|
||||
#include <SoftwareSerial.h>
|
||||
@ -146,8 +149,8 @@ void Receive()
|
||||
// ########################## LOOP ##########################
|
||||
|
||||
unsigned long iTimeSend = 0;
|
||||
int iTestMax = SPEED_MAX_TEST;
|
||||
int iTest = 0;
|
||||
int iStep = SPEED_STEP;
|
||||
|
||||
void loop(void)
|
||||
{
|
||||
@ -159,11 +162,14 @@ void loop(void)
|
||||
// Send commands
|
||||
if (iTimeSend > timeNow) return;
|
||||
iTimeSend = timeNow + TIME_SEND;
|
||||
Send(0, SPEED_MAX_TEST - 2*abs(iTest));
|
||||
Send(0, iTest);
|
||||
|
||||
// Calculate test command signal
|
||||
iTest += 10;
|
||||
if (iTest > iTestMax) iTest = -iTestMax;
|
||||
iTest += iStep;
|
||||
|
||||
// invert step if reaching limit
|
||||
if (iTest >= SPEED_MAX_TEST || iTest <= -SPEED_MAX_TEST)
|
||||
iStep = -iStep;
|
||||
|
||||
// Blink the LED
|
||||
digitalWrite(LED_BUILTIN, (timeNow%2000)<1000);
|
||||
|
||||
168
README.md
168
README.md
@ -1,5 +1,5 @@
|
||||
# hoverboard-firmware-hack-FOC
|
||||
[](https://travis-ci.com/EmanuelFeru/hoverboard-firmware-hack-FOC)
|
||||
[](https://app.travis-ci.com/EFeru/hoverboard-firmware-hack-FOC)
|
||||
[](https://www.gnu.org/licenses/gpl-3.0)
|
||||
[](https://www.paypal.com/cgi-bin/webscr?cmd=_donations&business=CU2SWN2XV9SCY¤cy_code=EUR&source=url)
|
||||
|
||||
@ -15,19 +15,16 @@ Table of Contents
|
||||
* [Hardware](#hardware)
|
||||
* [FOC Firmware](#foc-firmware)
|
||||
* [Example Variants](#example-variants)
|
||||
* [Dual Inputs](#dual-inputs)
|
||||
* [Flashing](#flashing)
|
||||
* [Troubleshooting](#troubleshooting)
|
||||
* [Diagnostics](#diagnostics)
|
||||
* [Wiki](#wiki)
|
||||
* [Projects and Links](#projects-and-links)
|
||||
* [Contributions](#contributions)
|
||||
|
||||
#### For the hoverboard sideboard firmware, see the following repositories:
|
||||
- [hoverboard-sideboard-hack-GD](https://github.com/EmanuelFeru/hoverboard-sideboard-hack-GD)
|
||||
- [hoverboard-sideboard-hack-STM](https://github.com/EmanuelFeru/hoverboard-sideboard-hack-STM)
|
||||
- [hoverboard-sideboard-hack-GD](https://github.com/EFeru/hoverboard-sideboard-hack-GD)
|
||||
- [hoverboard-sideboard-hack-STM](https://github.com/EFeru/hoverboard-sideboard-hack-STM)
|
||||
|
||||
#### For the FOC controller design, see the following repository:
|
||||
- [bldc-motor-control-FOC](https://github.com/EmanuelFeru/bldc-motor-control-FOC)
|
||||
- [bldc-motor-control-FOC](https://github.com/EFeru/bldc-motor-control-FOC)
|
||||
|
||||
#### Videos:
|
||||
<table>
|
||||
@ -96,21 +93,20 @@ In all FOC control modes, the controller features maximum motor speed and maximu
|
||||
### Parameters
|
||||
- All the calibratable motor parameters can be found in the 'BLDC_controller_data.c'. I provided you with an already calibrated controller, but if you feel like fine tuning it feel free to do so
|
||||
- The parameters are represented in Fixed-point data type for a more efficient code execution
|
||||
- For calibrating the fixed-point parameters use the [Fixed-Point Viewer](https://github.com/EmanuelFeru/FixedPointViewer) tool
|
||||
- The controller parameters are given in [this table](https://github.com/EmanuelFeru/bldc-motor-control-FOC/blob/master/02_Figures/paramTable.png)
|
||||
- For calibrating the fixed-point parameters use the [Fixed-Point Viewer](https://github.com/EFeru/FixedPointViewer) tool
|
||||
- The controller parameters are given in [this table](https://github.com/EFeru/bldc-motor-control-FOC/blob/master/02_Figures/paramTable.png)
|
||||
|
||||
|
||||
---
|
||||
## Example Variants
|
||||
|
||||
This firmware offers currently these variants (selectable in [platformio.ini](/platformio.ini) or [config.h](/Inc/config.h)):
|
||||
- **VARIANT_ADC**: The motors are controlled by two potentiometers connected to the Left sensor cable (long wired)
|
||||
- **VARIANT_USART**: The motors are controlled via serial protocol (e.g. on USART3 right sensor cable, the short wired cable). The commands can be sent from an Arduino. Check out the [hoverserial.ino](/Arduino/hoverserial) as an example sketch.
|
||||
- **VARIANT_NUNCHUK**: Wii Nunchuk offers one hand control for throttle, braking and steering. This was one of the first input device used for electric armchairs or bottle crates.
|
||||
- **VARIANT_PPM**: RC remote control with PPM Sum signal.
|
||||
- **VARIANT_PWM**: RC remote control with PWM signal.
|
||||
- **VARIANT_IBUS**: RC remote control with Flysky iBUS protocol connected to the Left sensor cable.
|
||||
- **VARIANT_HOVERCAR**: The motors are controlled by two pedals brake and throttle. Reverse is engaged by double tapping on the brake pedal at standstill. See [HOVERCAR wiki](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/wiki/Variant-HOVERCAR).
|
||||
- **VARIANT_HOVERCAR**: The motors are controlled by two pedals brake and throttle. Reverse is engaged by double tapping on the brake pedal at standstill. See [HOVERCAR wiki](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki/Variant-HOVERCAR).
|
||||
- **VARIANT_HOVERBOARD**: The mainboard reads the two sideboards data. The sideboards need to be flashed with the hacked version. The balancing controller is **not** yet implemented.
|
||||
- **VARIANT_TRANSPOTTER**: This is for transpotter build, which is a hoverboard based transportation system. For more details on how to build it check [here](https://github.com/NiklasFauth/hoverboard-firmware-hack/wiki/Build-Instruction:-TranspOtter) and [here](https://hackaday.io/project/161891-transpotter-ng).
|
||||
- **VARIANT_SKATEBOARD**: This is for skateboard build, controlled using an RC remote with PWM signal connected to the right sensor cable.
|
||||
@ -119,162 +115,38 @@ Of course the firmware can be further customized for other needs or projects.
|
||||
|
||||
|
||||
---
|
||||
## Dual Inputs
|
||||
## Wiki
|
||||
Please check the wiki for [Getting Started](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki#getting-started) and for [Troubleshooting](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki#troubleshooting)
|
||||
|
||||
The firmware supports the input to be provided from two different sources connected to the Left and Right cable, respectively. To enable dual-inputs functionality uncomment `#define DUAL_INPUTS` in config.h for the respective variant. Various dual-inputs combinations can be realized as illustrated in the following table:
|
||||
| Left | Right | Availability |
|
||||
| --- | --- | --- |
|
||||
| ADC<sup>(0)</sup> | UART<sup>(1)</sup> | VARIANT_ADC |
|
||||
| ADC<sup>(0)</sup> | {PPM,PWM,iBUS}<sup>(1)</sup> | VARIANT_{PPM,PWM,IBUS} |
|
||||
| ADC<sup>(0)</sup> | Sideboard<sup></sup><sup>(1*)</sup> | VARIANT_HOVERCAR |
|
||||
| UART<sup>(0)</sup> | Sideboard<sup>(1*)</sup> | VARIANT_UART |
|
||||
| UART<sup>(1)</sup> | Nunchuk<sup>(0)</sup> | VARIANT_NUNCHUK |
|
||||
|
||||
<sup>(0)</sup> Primary input: this input is used when the Auxilliary input is not available or not connected.<br/>
|
||||
<sup>(1)</sup> Auxilliary input: this inputs is used when connected or enabled by a switch<sup>(*)</sup>. If the Auxilliary input is disconnected, the firmware will automatically switch to the Primary input. Timeout is reported **only** on the Primary input.
|
||||
|
||||
With slight modifications in config.h, other dual-inputs combinations can be realized as:
|
||||
| Left | Right | Possibility |
|
||||
| --- | --- | --- |
|
||||
| Sideboard<sup>(1*)</sup> | UART<sup>(0)</sup> | VARIANT_UART |
|
||||
| UART<sup>(0)</sup> | {PPM,PWM,iBUS}<sup>(1)</sup> | VARIANT_{PPM,PWM,IBUS} |
|
||||
| {PPM,PWM,iBUS}<sup>(1)</sup> | Nunchuk<sup>(0)</sup> | VARIANT_{PPM,PWM,IBUS} |
|
||||
|
||||
|
||||
---
|
||||
## Flashing
|
||||
|
||||
Right to the STM32, there is a debugging header with GND, 3V3, SWDIO and SWCLK. Connect GND, SWDIO and SWCLK to your SWD programmer, like the ST-Link found on many STM devboards.
|
||||
|
||||
If you have never flashed your sideboard before, the MCU is probably locked. To unlock the flash, check-out the wiki page [How to Unlock MCU flash](https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/wiki/How-to-Unlock-MCU-flash).
|
||||
|
||||
Do not power the mainboard from the 3.3V of your programmer! This has already killed multiple mainboards.
|
||||
|
||||
Make sure you hold the powerbutton or connect a jumper to the power button pins while flashing the firmware, as the STM might release the power latch and switches itself off during flashing. Battery > 36V have to be connected while flashing.
|
||||
|
||||
To build and flash choose one of the following methods:
|
||||
|
||||
### Method 1: Using Platformio IDE
|
||||
|
||||
- open the folder in the IDE of choice (vscode or Atom)
|
||||
- press the 'PlatformIO:Build' or the 'PlatformIO:Upload' button (bottom left in vscode).
|
||||
|
||||
### Method 2: Using Keil uVision
|
||||
|
||||
- in [Keil uVision](https://www.keil.com/download/product/), open the [mainboard-hack.uvproj](/MDK-ARM/)
|
||||
- if you are asked to install missing packages, click Yes
|
||||
- click Build Target (or press F7) to build the firmware
|
||||
- click Load Code (or press F8) to flash the firmware.
|
||||
|
||||
### Method 3: Using Linux CLI
|
||||
|
||||
- prerequisites: install [ST-Flash utility](https://github.com/texane/stlink).
|
||||
- open a terminal in the repo check-out folder and if you have definded the variant in [config.h](/Inc/config.h) type:
|
||||
```
|
||||
make
|
||||
```
|
||||
or you can set the variant like this
|
||||
```
|
||||
make -e VARIANT=VARIANT_####
|
||||
```
|
||||
- flash the firmware by typing:
|
||||
```
|
||||
make flash
|
||||
```
|
||||
- or
|
||||
```
|
||||
openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg -c flash "write_image erase build/hover.bin 0x8000000"
|
||||
```
|
||||
|
||||
### Method 4: MacOS CLI
|
||||
- prerequisites: first get brew https://brew.sh
|
||||
- then install stlink ST-Flash utility
|
||||
|
||||
#### Using Make
|
||||
```
|
||||
brew install stlink
|
||||
```
|
||||
- open a terminal in the repo check-out folder and if you have definded the variant in [config.h](/Inc/config.h) type:
|
||||
```
|
||||
make
|
||||
```
|
||||
or you can set the variant like this
|
||||
```
|
||||
make -e VARIANT=VARIANT_####
|
||||
```
|
||||
If compiling fails because something is missing just install it with brew AND leave a comment to improve this howto or pull request ;-)
|
||||
|
||||
- flash the firmware by typing:
|
||||
```
|
||||
make flash
|
||||
```
|
||||
- if unlock is needed
|
||||
```
|
||||
make unlock
|
||||
```
|
||||
|
||||
#### Using platformio CLI
|
||||
|
||||
```
|
||||
brew install platformio
|
||||
platformio run -e VARIANT_####
|
||||
platformio run –target upload -e VARIANT_####
|
||||
```
|
||||
If you have set default_envs in [platformio.ini](/platformio.ini) you can ommit -e parameter
|
||||
|
||||
|
||||
---
|
||||
## Troubleshooting
|
||||
First, check that power is connected and voltage is >36V while flashing.
|
||||
If the board draws more than 100mA in idle, it's probably broken.
|
||||
|
||||
If the motors do something, but don't rotate smooth and quietly, try to use an alternative phase mapping. Usually, color-correct mapping (blue to blue, green to green, yellow to yellow) works fine. However, some hoverboards have a different layout then others, and this might be the reason your motor isn't spinning.
|
||||
|
||||
Nunchuk not working: Use the right one of the 2 types of nunchuks. Use i2c pullups.
|
||||
|
||||
Nunchuk or PPM working bad: The i2c bus and PPM signal are very sensitive to emv distortions of the motor controller. They get stronger the faster you are. Keep cables short, use shielded cable, use ferrits, stabilize voltage in nunchuk or reviever, add i2c pullups. To many errors leads to very high accelerations which triggers the protection board within the battery to shut everything down.
|
||||
|
||||
Recommendation: Nunchuk Breakout Board https://github.com/Jan--Henrik/hoverboard-breakout
|
||||
|
||||
Most robust way for input is to use the ADC and potis. It works well even on 1m unshielded cable. Solder ~100k Ohm resistors between ADC-inputs and gnd directly on the mainboard. Use potis as pullups to 3.3V.
|
||||
|
||||
|
||||
---
|
||||
## Diagnostics
|
||||
The errors reported by the board are in the form of audible beeps:
|
||||
- **1 beep (low pitch)**: Motor error (see [possible causes](https://github.com/EmanuelFeru/bldc-motor-control-FOC#diagnostics))
|
||||
- **2 beeps (low pitch)**: ADC timeout
|
||||
- **3 beeps (low pitch)**: Serial communication timeout
|
||||
- **4 beeps (low pitch)**: General timeout (PPM, PWM, Nunchuk)
|
||||
- **5 beeps (low pitch)**: Mainboard temperature warning
|
||||
- **1 beep slow (medium pitch)**: Low battery voltage < 36V
|
||||
- **1 beep fast (medium pitch)**: Low battery voltage < 35V
|
||||
- **1 beep fast (high pitch)**: Backward spinning motors
|
||||
|
||||
For a more detailed troubleshooting connect an [FTDI Serial adapter](https://s.click.aliexpress.com/e/_AqPOBr) or a [Bluetooth module](https://s.click.aliexpress.com/e/_A4gkMD) to the DEBUG_SERIAL cable (Left or Right) and monitor the output data using the [Hoverboard Web Serial Control](https://candas1.github.io/Hoverboard-Web-Serial-Control/) tool developed by [Candas](https://github.com/Candas1/).
|
||||
|
||||
---
|
||||
## Projects and Links
|
||||
|
||||
- **Original firmware:** [https://github.com/NiklasFauth/hoverboard-firmware-hack](https://github.com/NiklasFauth/hoverboard-firmware-hack)
|
||||
- **Original firmware:** [https://github.com/lucysrausch/hoverboard-firmware-hack](https://github.com/lucysrausch/hoverboard-firmware-hack)
|
||||
- **[Candas](https://github.com/Candas1/) Hoverboard Web Serial Control:** [https://github.com/Candas1/Hoverboard-Web-Serial-Control](https://github.com/Candas1/Hoverboard-Web-Serial-Control)
|
||||
- **[RoboDurden's](https://github.com/RoboDurden) online compiler:** [https://pionierland.de/hoverhack/](https://pionierland.de/hoverhack/)
|
||||
- **Hoverboard hack for AT32F403RCT6 mainboards:** [https://github.com/cloidnerux/hoverboard-firmware-hack](https://github.com/cloidnerux/hoverboard-firmware-hack)
|
||||
- **Hoverboard hack for split mainboards:** [https://github.com/flo199213/Hoverboard-Firmware-Hack-Gen2](https://github.com/flo199213/Hoverboard-Firmware-Hack-Gen2)
|
||||
- **Hoverboard hack from BiPropellant:** [https://github.com/bipropellant](https://github.com/bipropellant)
|
||||
- **Hoverboard breakout boards:** [https://github.com/Jan--Henrik/hoverboard-breakout](https://github.com/Jan--Henrik/hoverboard-breakout)
|
||||
- **Hoverboard breakout boards:** [https://github.com/Jana-Marie/hoverboard-breakout](https://github.com/Jana-Marie/hoverboard-breakout)
|
||||
|
||||
<a/>
|
||||
|
||||
- **Bobbycar** [https://github.com/larsmm/hoverboard-firmware-hack-bbcar](https://github.com/larsmm/hoverboard-firmware-hack-bbcar)
|
||||
- **Bobbycar** [https://github.com/larsmm/hoverboard-firmware-hack-FOC-bbcar](https://github.com/larsmm/hoverboard-firmware-hack-FOC-bbcar)
|
||||
- **Wheel chair:** [https://github.com/Lahorde/steer_speed_ctrl](https://github.com/Lahorde/steer_speed_ctrl)
|
||||
- **TranspOtterNG:** [https://github.com/Jan--Henrik/transpOtterNG](https://github.com/Jan--Henrik/transpOtterNG)
|
||||
- **Hoverboard driver for ROS:** [https://github.com/alex-makarov/hoverboard-driver](https://github.com/alex-makarov/hoverboard-driver)
|
||||
- **Ongoing OneWheel project:** [https://forum.esk8.news/t/yet-another-hoverboard-to-onewheel-project/60979/14](https://forum.esk8.news/t/yet-another-hoverboard-to-onewheel-project/60979/14)
|
||||
- **ST Community:** [Custom FOC motor control](https://community.st.com/s/question/0D50X0000B28qTDSQY/custom-foc-control-current-measurement-dma-timer-interrupt-needs-review)
|
||||
|
||||
<a/>
|
||||
|
||||
- **Telegram Community:** If you are an enthusiast join our [Hooover Telegram Group](https://t.me/joinchat/BHWO_RKu2LT5ZxEkvUB8uw)
|
||||
|
||||
---
|
||||
## Stargazers
|
||||
|
||||
[](https://starchart.cc/EFeru/hoverboard-firmware-hack-FOC)
|
||||
|
||||
---
|
||||
## Contributions
|
||||
@ -285,6 +157,4 @@ If you want to donate to keep this firmware updated, please use the link below:
|
||||
|
||||
[](https://www.paypal.com/cgi-bin/webscr?cmd=_donations&business=CU2SWN2XV9SCY¤cy_code=EUR&source=url)
|
||||
|
||||
|
||||
---
|
||||
|
||||
|
||||
@ -643,8 +643,8 @@ void updateCurSpdLim(void) {
|
||||
void standstillHold(void) {
|
||||
#if defined(STANDSTILL_HOLD_ENABLE) && (CTRL_TYP_SEL == FOC_CTRL) && (CTRL_MOD_REQ != SPD_MODE)
|
||||
if (!rtP_Left.b_cruiseCtrlEna) { // If Stanstill in NOT Active -> try Activation
|
||||
if (((input1[inIdx].cmd > 50 || input2[inIdx].cmd < -50) && speedAvgAbs < 30) // Check if Brake is pressed AND measured speed is small
|
||||
|| (input2[inIdx].cmd < 20 && speedAvgAbs < 5)) { // OR Throttle is small AND measured speed is very small
|
||||
if ((input1[inIdx].cmd > 50 && speedAvgAbs < 30) // Check if Brake is pressed AND measured speed is small
|
||||
|| (abs(input2[inIdx].cmd) < 20 && speedAvgAbs < 5)) { // OR Throttle is small AND measured speed is very small
|
||||
rtP_Left.n_cruiseMotTgt = 0;
|
||||
rtP_Right.n_cruiseMotTgt = 0;
|
||||
rtP_Left.b_cruiseCtrlEna = 1;
|
||||
@ -653,7 +653,7 @@ void standstillHold(void) {
|
||||
}
|
||||
}
|
||||
else { // If Stanstill is Active -> try Deactivation
|
||||
if (input1[inIdx].cmd < 20 && input2[inIdx].cmd > 50 && !cruiseCtrlAcv) { // Check if Brake is released AND Throttle is pressed AND no Cruise Control
|
||||
if (input1[inIdx].cmd < 20 && abs(input2[inIdx].cmd) > 50 && !cruiseCtrlAcv) { // Check if Brake is released AND Throttle is pressed AND no Cruise Control
|
||||
rtP_Left.b_cruiseCtrlEna = 0;
|
||||
rtP_Right.b_cruiseCtrlEna = 0;
|
||||
standstillAcv = 0;
|
||||
|
||||
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Reference in New Issue
Block a user