feedc0de/bobbycar-foc-model
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corrected nunchuck to nunchuk

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This commit is contained in:
kai
2020-01-18 01:05:06 +01:00
parent fb362f04a9
commit cd01b73451
7 changed files with 72 additions and 72 deletions
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44
Src/main.c
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@@ -83,7 +83,7 @@ extern I2C_HandleTypeDef hi2c2;
#endif
#ifdef VARIANT_TRANSPOTTER
uint8_t nunchuck_connected = 0;
uint8_t nunchuk_connected = 0;
float steering;
int feedforward;
@@ -97,7 +97,7 @@ extern I2C_HandleTypeDef hi2c2;
uint16_t counter = 0;
#else
uint8_t nunchuck_connected = 1;
uint8_t nunchuk_connected = 1;
#endif
#if defined(CONTROL_ADC) && defined(ADC_PROTECT_ENA)
@@ -146,7 +146,7 @@ typedef struct{
static SerialFeedback Feedback;
#endif
#if defined(CONTROL_NUNCHUCK) || defined(SUPPORT_NUNCHUCK) || defined(CONTROL_PPM) || defined(CONTROL_ADC)
#if defined(CONTROL_ NUNCHUK) || defined(SUPPORT_ NUNCHUK) || defined(CONTROL_PPM) || defined(CONTROL_ADC)
static uint8_t button1, button2;
#endif
@@ -182,7 +182,7 @@ extern int16_t batVoltage; // global variable for battery voltage
static uint32_t inactivity_timeout_counter;
static uint32_t main_loop_counter;
extern uint8_t nunchuck_data[6];
extern uint8_t nunchuk_data[6];
#ifdef CONTROL_PPM
extern volatile uint16_t ppm_captured_value[PPM_NUM_CHANNELS+1];
#endif
@@ -304,9 +304,9 @@ int main(void) {
PPM_Init();
#endif
#ifdef CONTROL_NUNCHUCK
#ifdef CONTROL_ NUNCHUK
I2C_Init();
Nunchuck_Init();
Nunchuk_Init();
#endif
#if defined(CONTROL_SERIAL_USART2) || defined(FEEDBACK_SERIAL_USART2) || defined(DEBUG_SERIAL_USART2)
@@ -414,7 +414,7 @@ int main(void) {
feedforward = ((distance - (int)(setDistance * 1345)));
if (nunchuck_connected == 0) {
if (nunchuk_connected == 0) {
speedL = speedL * 0.8f + (CLAMP(feedforward + ((steering)*((float)MAX(ABS(feedforward), 50)) * ROT_P), -850, 850) * -0.2f);
speedR = speedR * 0.8f + (CLAMP(feedforward - ((steering)*((float)MAX(ABS(feedforward), 50)) * ROT_P), -850, 850) * -0.2f);
if ((speedL < lastSpeedL + 50 && speedL > lastSpeedL - 50) && (speedR < lastSpeedR + 50 && speedR > lastSpeedR - 50)) {
@@ -453,14 +453,14 @@ int main(void) {
}
#endif
#if defined(CONTROL_NUNCHUCK) || defined(SUPPORT_NUNCHUCK)
if (nunchuck_connected != 0) {
Nunchuck_Read();
cmd1 = CLAMP((nunchuck_data[0] - 127) * 8, INPUT_MIN, INPUT_MAX); // x - axis. Nunchuck joystick readings range 30 - 230
cmd2 = CLAMP((nunchuck_data[1] - 128) * 8, INPUT_MIN, INPUT_MAX); // y - axis
#if defined(CONTROL_ NUNCHUK) || defined(SUPPORT_ NUNCHUK)
if (nunchuk_connected != 0) {
Nunchuk_Read();
cmd1 = CLAMP((nunchuk_data[0] - 127) * 8, INPUT_MIN, INPUT_MAX); // x - axis. Nunchuk joystick readings range 30 - 230
cmd2 = CLAMP((nunchuk_data[1] - 128) * 8, INPUT_MIN, INPUT_MAX); // y - axis
button1 = (uint8_t)nunchuck_data[5] & 1;
button2 = (uint8_t)(nunchuck_data[5] >> 1) & 1;
button1 = (uint8_t)nunchuk_data[5] & 1;
button2 = (uint8_t)(nunchuk_data[5] >> 1) & 1;
}
#endif
@@ -697,7 +697,7 @@ int main(void) {
HAL_Delay(1000);
nunchuck_connected = 0;
nunchuk_connected = 0;
}
if ((distance / 1345.0) - setDistance > 0.5 && (lastDistance / 1345.0) - setDistance > 0.5) { // Error, robot too far away!
@@ -714,19 +714,19 @@ int main(void) {
poweroff();
}
#ifdef SUPPORT_NUNCHUCK
#ifdef SUPPORT_ NUNCHUK
if (counter % 500 == 0) {
if (nunchuck_connected == 0 && enable == 0) {
if (Nunchuck_Ping()) {
if (nunchuk_connected == 0 && enable == 0) {
if (Nunchuk_Ping()) {
HAL_Delay(500);
Nunchuck_Init();
Nunchuk_Init();
#ifdef SUPPORT_LCD
LCD_SetLocation(&lcd, 0, 0);
LCD_WriteString(&lcd, "Nunchuck Control");
LCD_WriteString(&lcd, "Nunchuk Control");
#endif
timeout = 0;
HAL_Delay(1000);
nunchuck_connected = 1;
nunchuk_connected = 1;
}
}
}
@@ -737,7 +737,7 @@ int main(void) {
if (LCDerrorFlag == 1 && enable == 0) {
} else {
if (nunchuck_connected == 0) {
if (nunchuk_connected == 0) {
LCD_SetLocation(&lcd, 4, 0);
LCD_WriteFloat(&lcd,distance/1345.0,2);
LCD_SetLocation(&lcd, 10, 0);