feedc0de/bobbycar-foc-model
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Minor styling

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EFeru
2022-06-05 14:50:29 +02:00
parent cb7f3e9183
commit 5505a71260
2 changed files with 15 additions and 20 deletions
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12
Inc/config.h
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@ -527,14 +527,14 @@
// #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_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_M2_MAX 500
#define MULTI_MODE_DRIVE_M2_RATE 300
#define MULTI_MODE_DRIVE_M3_MAX 1000
#define MULTI_MODE_DRIVE_M3_RATE 450
#define MULTI_MODE_DRIVE_M3_MAX 1000
#define MULTI_MODE_DRIVE_M3_RATE 450
#endif
#endif

23
Src/main.c
View File

@ -214,26 +214,21 @@ int main(void) {
int16_t board_temp_adcFilt = adc_buffer.temp;
#ifdef MULTI_MODE_DRIVE
if(adc_buffer.l_rx2 >= input1[0].min){
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){
} 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{
} 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
);
printf("Drive mode %i selected: max_speed:%i acc_rate:%i \r\n", drive_mode, max_speed, rate);
#endif
// Loop until button is released
@ -311,8 +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
@ -323,9 +318,9 @@ int main(void) {
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;
}
if (speed >= max_speed) {
speed = max_speed;
}
#endif
if (!MultipleTapBrake.b_multipleTap) { // Check driving direction