From 44d4d1210cd7281ec0067c346ca1af8b61c87f73 Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Tue, 5 Sep 2023 20:02:33 +0200
Subject: [PATCH] add ramp

---
 306-controller_interface.X/app/car.h         |  5 ++++
 306-controller_interface.X/app/eeprom.c      | 10 +++++++-
 306-controller_interface.X/app/kartculator.c | 27 ++++++++++++++++++--
 3 files changed, 39 insertions(+), 3 deletions(-)

diff --git a/306-controller_interface.X/app/car.h b/306-controller_interface.X/app/car.h
index 9a44e0d..b81fe60 100644
--- a/306-controller_interface.X/app/car.h
+++ b/306-controller_interface.X/app/car.h
@@ -43,6 +43,8 @@
 #define MEMADD_BATTERY_CURRENT_TIME         0x1B
 #define MEMADD_BATTERY_ENERGY_TIME          0x1C
 #define MEMADD_BATTERY_ALIVE_TIME           0x1D
+#define MEMADD_CONTROL_PARAM_MAX_CHANGE_STEERING 0x1E
+#define MEMADD_CONTROL_PARAM_MAX_CHANGE_DRIVE 0x1F
 
 const bool ALWAYSTRUE = true;
 const bool ALWAYSFALSE = false;
@@ -72,6 +74,9 @@ typedef struct {
     uint8_t     BATTERY_CURRENT_TIME;
     uint8_t     BATTERY_ENERGY_TIME;
     uint8_t     BATTERY_ALIVE_TIME;
+    uint8_t     CONTROL_PARAM_MAX_CHANGE_STEERING;
+    uint8_t     CONTROL_PARAM_MAX_CHANGE_DRIVE;
+
 } KART_CST_TYPE;
 KART_CST_TYPE KART_CST;
 
diff --git a/306-controller_interface.X/app/eeprom.c b/306-controller_interface.X/app/eeprom.c
index 013c1b9..0e938d1 100644
--- a/306-controller_interface.X/app/eeprom.c
+++ b/306-controller_interface.X/app/eeprom.c
@@ -49,6 +49,9 @@ void MEM_init(){
         KART_CST.BATTERY_ENERGY_TIME     =   50;
         KART_CST.BATTERY_ALIVE_TIME      =   50;
         
+        KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING = 10;
+        KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE = 10;
+        
         MEM_write_1_byte(MEMADD_CONTROL_STEERING_MODE, KART_CST.CONTROL_STEERING_MODE);
         MEM_write_1_byte(MEMADD_CONTROL_ALIVE_TIME, KART_CST.CONTROL_ALIVE_TIME);
         MEM_write_4_byte(MEMADD_CONTROL_SPEED_FACTOR, KART_CST.CONTROL_SPEED_FACTOR);
@@ -75,6 +78,9 @@ void MEM_init(){
         MEM_write_1_byte(MEMADD_BATTERY_ENERGY_TIME, KART_CST.BATTERY_ENERGY_TIME);
         MEM_write_1_byte(MEMADD_BATTERY_ALIVE_TIME, KART_CST.BATTERY_ALIVE_TIME);
         
+        MEM_write_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_DRIVE, KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE);
+        MEM_write_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_STEERING, KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING);
+        
         MEM_write_1_byte(0x0, 0x42);
     } else {
         KART_CST.CONTROL_STEERING_MODE = MEM_read_1_byte(MEMADD_CONTROL_STEERING_MODE);
@@ -103,8 +109,10 @@ void MEM_init(){
         KART_CST.BATTERY_ENERGY_TIME = MEM_read_1_byte(MEMADD_BATTERY_ENERGY_TIME);
         KART_CST.BATTERY_ALIVE_TIME = MEM_read_1_byte(MEMADD_BATTERY_ALIVE_TIME);
         
+        KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE = MEM_read_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_DRIVE);
+        KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING = MEM_read_1_byte(MEMADD_CONTROL_PARAM_MAX_CHANGE_STEERING);
+        
     }
-    CAN_Send(0, 5, KART_CST.CONTROL_POWER_FACTOR); 
 }
 
 void MEM_reset() {
diff --git a/306-controller_interface.X/app/kartculator.c b/306-controller_interface.X/app/kartculator.c
index 40f2b5c..a36ae22 100644
--- a/306-controller_interface.X/app/kartculator.c
+++ b/306-controller_interface.X/app/kartculator.c
@@ -11,9 +11,21 @@ void deadJoystick(void* p){
     eKart.torque = 0;
     eKart.position = eKart.center;
 }
+
 void calcTorque(uint8_t joy_pos) {
     int32_t calcTorque;
-    calcTorque = (int8_t) joy_pos;                  // joystick position
+    static int8_t lastPos = 0;
+    int8_t diff = ((int8_t)joy_pos) - lastPos;
+    
+    if (diff > KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE) {
+        calcTorque = lastPos + KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE;
+    } else if (diff < -KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE) {
+        calcTorque = lastPos - KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE;
+    } else {
+        calcTorque = (int8_t) joy_pos;                  // joystick position
+    }
+    lastPos = calcTorque;
+    
     calcTorque *= KART_CST.CONTROL_POWER_FACTOR;    // convert by power factor
     calcTorque /= 1000;                             // torque define by joystick
     eKart.torque = (int16_t) calcTorque;
@@ -21,7 +33,18 @@ void calcTorque(uint8_t joy_pos) {
 
 void calcPosition(uint8_t joy_pos){
     int32_t calcPosition;
-    calcPosition = (int8_t) joy_pos;
+    static int8_t lastPos = 0;
+    int8_t diff = ((int8_t)joy_pos) - lastPos;
+    
+    if (diff > KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING) {
+        calcPosition = lastPos + KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING;
+    } else if (diff < -KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING) {
+        calcPosition = lastPos - KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING;
+    } else {
+        calcPosition = (int8_t) joy_pos;
+    }
+    lastPos = calcPosition;
+    
     calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR;
     calcPosition /= 1000;
     calcPosition += eKart.center;