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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19
Src/main.c
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@@ -214,26 +214,21 @@ int main(void) {
int16_t board_temp_adcFilt = adc_buffer.temp; int16_t board_temp_adcFilt = adc_buffer.temp;
#ifdef MULTI_MODE_DRIVE #ifdef MULTI_MODE_DRIVE
if(adc_buffer.l_rx2 >= input1[0].min){ if (adc_buffer.l_rx2 >= input1[0].min) {
drive_mode = 0; drive_mode = 0;
max_speed = MULTI_MODE_DRIVE_M1_MAX; max_speed = MULTI_MODE_DRIVE_M1_MAX;
rate = MULTI_MODE_DRIVE_M1_RATE; 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; drive_mode = 2;
max_speed = MULTI_MODE_DRIVE_M3_MAX; max_speed = MULTI_MODE_DRIVE_M3_MAX;
rate = MULTI_MODE_DRIVE_M3_RATE; rate = MULTI_MODE_DRIVE_M3_RATE;
} else{ } else {
drive_mode = 1; drive_mode = 1;
max_speed = MULTI_MODE_DRIVE_M2_MAX; max_speed = MULTI_MODE_DRIVE_M2_MAX;
rate = MULTI_MODE_DRIVE_M2_RATE; rate = MULTI_MODE_DRIVE_M2_RATE;
} }
printf( printf("Drive mode %i selected: max_speed:%i acc_rate:%i \r\n", drive_mode, max_speed, rate);
"Drive mode %i selected: max_speed:%i acc_rate:%i \r\n",
drive_mode,
max_speed,
rate
);
#endif #endif
// Loop until button is released // Loop until button is released
@@ -311,8 +306,8 @@ int main(void) {
#endif #endif
// ####### LOW-PASS FILTER ####### // ####### LOW-PASS FILTER #######
rateLimiter16(input1[inIdx].cmd , rate, &steerRateFixdt); rateLimiter16(input1[inIdx].cmd, rate, &steerRateFixdt);
rateLimiter16(input2[inIdx].cmd , rate, &speedRateFixdt); rateLimiter16(input2[inIdx].cmd, rate, &speedRateFixdt);
filtLowPass32(steerRateFixdt >> 4, FILTER, &steerFixdt); filtLowPass32(steerRateFixdt >> 4, FILTER, &steerFixdt);
filtLowPass32(speedRateFixdt >> 4, FILTER, &speedFixdt); filtLowPass32(speedRateFixdt >> 4, FILTER, &speedFixdt);
steer = (int16_t)(steerFixdt >> 16); // convert fixed-point to integer steer = (int16_t)(steerFixdt >> 16); // convert fixed-point to integer
@@ -323,7 +318,7 @@ int main(void) {
if (inIdx == CONTROL_ADC) { // Only use use implementation below if pedals are in use (ADC input) if (inIdx == CONTROL_ADC) { // Only use use implementation below if pedals are in use (ADC input)
#ifdef MULTI_MODE_DRIVE #ifdef MULTI_MODE_DRIVE
if(speed >= max_speed){ if (speed >= max_speed) {
speed = max_speed; speed = max_speed;
} }
#endif #endif