From 1fa34dea8ae022d773863f83b41af78e99f67405 Mon Sep 17 00:00:00 2001 From: Klagarge Date: Mon, 11 Sep 2023 17:35:15 +0200 Subject: [PATCH] add boost by button --- 306-controller_interface.X/app/can_message.c | 2 + 306-controller_interface.X/app/car.h | 1 + 306-controller_interface.X/app/kartculator.c | 5 + binary_files/v1_3_0-boost_by_pb.hex | 2985 ++++++++++++++++++ 4 files changed, 2993 insertions(+) create mode 100644 binary_files/v1_3_0-boost_by_pb.hex diff --git a/306-controller_interface.X/app/can_message.c b/306-controller_interface.X/app/can_message.c index 9f4010d..c611f4e 100644 --- a/306-controller_interface.X/app/can_message.c +++ b/306-controller_interface.X/app/can_message.c @@ -196,8 +196,10 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){ // posX posY button - calcTorque(incomeData.separate.byte1); calcPosition(incomeData.separate.byte0); + eKart.button = (bool) incomeData.separate.byte2; STEERING_emitPollDir(steering()); + } if(idMsg == 0xF) { // JOY_ALIVE diff --git a/306-controller_interface.X/app/car.h b/306-controller_interface.X/app/car.h index 71f4347..28137ab 100644 --- a/306-controller_interface.X/app/car.h +++ b/306-controller_interface.X/app/car.h @@ -84,6 +84,7 @@ typedef struct { int16_t torque; // uint32_t center; // uint32_t position; // + bool button; uint8_t speed; // 100m/h bool brake; uint8_t powerMode; // 0: eco - 1: normal - 2: race diff --git a/306-controller_interface.X/app/kartculator.c b/306-controller_interface.X/app/kartculator.c index 6f30af2..f13314d 100644 --- a/306-controller_interface.X/app/kartculator.c +++ b/306-controller_interface.X/app/kartculator.c @@ -237,6 +237,11 @@ void calcTorque(uint8_t joy_pos) { calcTorque *= KART_CST.CONTROL_POWER_FACTOR; // convert by power factor calcTorque /= 1000; // torque define by joystick + + if(eKart.button) { + calcTorque *= 1150; + calcTorque /= 1000; + } eKart.torque = (int16_t) calcTorque; } diff --git 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