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Merge pull request #309 from Guruth/MultiModeHoverCar

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Multiple Drive Modes for Hovercar variant
This commit is contained in:
Emanuel Feru
2022-06-05 14:55:27 +02:00
committed by GitHub
parent 4b16b64771 5505a71260
commit 4c0861e9de
2 changed files with 54 additions and 3 deletions
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13
Inc/config.h
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@ -524,6 +524,19 @@
// #define ELECTRIC_BRAKE_ENABLE // [-] Flag to enable electric brake and replace the motor "freewheel" with a constant braking when the input torque request is 0. Only available and makes sense for TORQUE mode.
// #define ELECTRIC_BRAKE_MAX 100 // (0, 500) Maximum electric brake to be applied when input torque request is 0 (pedal fully released).
// #define ELECTRIC_BRAKE_THRES 120 // (0, 500) Threshold below at which the electric brake starts engaging.
// #define MULTI_MODE_DRIVE
#ifdef MULTI_MODE_DRIVE
#define MULTI_MODE_DRIVE_M1_MAX 175
#define MULTI_MODE_DRIVE_M1_RATE 175
#define MULTI_MODE_DRIVE_M2_MAX 500
#define MULTI_MODE_DRIVE_M2_RATE 300
#define MULTI_MODE_DRIVE_M3_MAX 1000
#define MULTI_MODE_DRIVE_M3_RATE 450
#endif
#endif
// Multiple tap detection: default DOUBLE Tap on Brake pedal (4 pulses)

44
Src/main.c
View File

@ -162,6 +162,14 @@ static uint32_t buzzerTimer_prev = 0;
static uint32_t inactivity_timeout_counter;
static MultipleTap MultipleTapBrake; // define multiple tap functionality for the Brake pedal
static uint16_t rate = RATE; // Adjustable rate to support multiple drive modes on startup
#ifdef MULTI_MODE_DRIVE
static uint8_t drive_mode;
static uint16_t max_speed;
#endif
int main(void) {
HAL_Init();
@ -205,9 +213,32 @@ int main(void) {
int32_t board_temp_adcFixdt = adc_buffer.temp << 16; // Fixed-point filter output initialized with current ADC converted to fixed-point
int16_t board_temp_adcFilt = adc_buffer.temp;
#ifdef MULTI_MODE_DRIVE
if (adc_buffer.l_rx2 >= input1[0].min) {
drive_mode = 0;
max_speed = MULTI_MODE_DRIVE_M1_MAX;
rate = MULTI_MODE_DRIVE_M1_RATE;
} else if (adc_buffer.l_tx2 >= input2[0].min) {
drive_mode = 2;
max_speed = MULTI_MODE_DRIVE_M3_MAX;
rate = MULTI_MODE_DRIVE_M3_RATE;
} else {
drive_mode = 1;
max_speed = MULTI_MODE_DRIVE_M2_MAX;
rate = MULTI_MODE_DRIVE_M2_RATE;
}
printf("Drive mode %i selected: max_speed:%i acc_rate:%i \r\n", drive_mode, max_speed, rate);
#endif
// Loop until button is released
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { HAL_Delay(10); }
#ifdef MULTI_MODE_DRIVE
// Wait until triggers are released
while((adc_buffer.l_rx2 + adc_buffer.l_tx2) >= (input1[0].min + input2[0].min)) { HAL_Delay(10); }
#endif
while(1) {
if (buzzerTimer - buzzerTimer_prev > 16*DELAY_IN_MAIN_LOOP) { // 1 ms = 16 ticks buzzerTimer
@ -275,8 +306,8 @@ int main(void) {
#endif
// ####### LOW-PASS FILTER #######
rateLimiter16(input1[inIdx].cmd , RATE, &steerRateFixdt);
rateLimiter16(input2[inIdx].cmd , RATE, &speedRateFixdt);
rateLimiter16(input1[inIdx].cmd, rate, &steerRateFixdt);
rateLimiter16(input2[inIdx].cmd, rate, &speedRateFixdt);
filtLowPass32(steerRateFixdt >> 4, FILTER, &steerFixdt);
filtLowPass32(speedRateFixdt >> 4, FILTER, &speedFixdt);
steer = (int16_t)(steerFixdt >> 16); // convert fixed-point to integer
@ -285,6 +316,13 @@ int main(void) {
// ####### VARIANT_HOVERCAR #######
#ifdef VARIANT_HOVERCAR
if (inIdx == CONTROL_ADC) { // Only use use implementation below if pedals are in use (ADC input)
#ifdef MULTI_MODE_DRIVE
if (speed >= max_speed) {
speed = max_speed;
}
#endif
if (!MultipleTapBrake.b_multipleTap) { // Check driving direction
speed = steer + speed; // Forward driving: in this case steer = Brake, speed = Throttle
} else {
@ -446,7 +484,7 @@ int main(void) {
#if defined(DEBUG_SERIAL_PROTOCOL)
process_debug();
#else
printf("in1:%i in2:%i cmdL:%i cmdR:%i BatADC:%i BatV:%i TempADC:%i Temp:%i\r\n",
printf("in1:%i in2:%i cmdL:%i cmdR:%i BatADC:%i BatV:%i TempADC:%i Temp:%i \r\n",
input1[inIdx].raw, // 1: INPUT1
input2[inIdx].raw, // 2: INPUT2
cmdL, // 3: output command: [-1000, 1000]