From 5c555f6ee1edcb84423de9515ba161cf1f01a80c Mon Sep 17 00:00:00 2001
From: Klagarge <remi@heredero.ch>
Date: Thu, 7 Sep 2023 10:31:26 +0200
Subject: [PATCH] fix ramp

---
 306-controller_interface.X/app/eeprom.c          | 2 +-
 306-controller_interface.X/app/factory/factory.c | 1 +
 306-controller_interface.X/app/kartculator.c     | 8 ++++++--
 306-controller_interface.X/app/kartculator.h     | 1 +
 4 files changed, 9 insertions(+), 3 deletions(-)

diff --git a/306-controller_interface.X/app/eeprom.c b/306-controller_interface.X/app/eeprom.c
index 1f256f6..bd6dc71 100644
--- a/306-controller_interface.X/app/eeprom.c
+++ b/306-controller_interface.X/app/eeprom.c
@@ -24,7 +24,7 @@ void MEM_init(){
     uint8_t check = MEM_read_1_byte(0x0);
     if(check != 0x42){
         KART_CST.CONTROL_STEERING_MODE   =   0;
-        KART_CST.CONTROL_ALIVE_TIME      =   250; // should be 50
+        KART_CST.CONTROL_ALIVE_TIME      =   50; // should be 50
         KART_CST.CONTROL_SPEED_FACTOR    =   111111;    //     111'111
         KART_CST.CONTROL_POWER_FACTOR    =   10000;     //      10'000
         KART_CST.CONTROL_STEERING_FACTOR =   5600240;   //   5'600'024
diff --git a/306-controller_interface.X/app/factory/factory.c b/306-controller_interface.X/app/factory/factory.c
index bc0d6db..f326b16 100644
--- a/306-controller_interface.X/app/factory/factory.c
+++ b/306-controller_interface.X/app/factory/factory.c
@@ -40,6 +40,7 @@ void Factory_init() {
     CAN_setSender(1);
     
     MEM_init();
+    initRamp();
     
     ALIVE_init(ALcontroller(), 6);
     ALIVE_setAliveTime(ALcontroller(), KART_CST.CONTROL_ALIVE_TIME);
diff --git a/306-controller_interface.X/app/kartculator.c b/306-controller_interface.X/app/kartculator.c
index f57f435..d4137e1 100644
--- a/306-controller_interface.X/app/kartculator.c
+++ b/306-controller_interface.X/app/kartculator.c
@@ -225,7 +225,9 @@ void calcTorque(uint8_t joy_pos) {
     if(joy_pos >= 0) {
         calcTorque = rampTorque[joy_pos];
     } else {
-        calcTorque = -rampTorque[-joy_pos];
+        joy_pos *= -1;
+        calcTorque = rampTorque[joy_pos];
+        calcTorque *= -1;
     }
     calcTorque *= KART_CST.CONTROL_POWER_FACTOR;    // convert by power factor
     calcTorque /= 1000;                             // torque define by joystick
@@ -239,7 +241,9 @@ void calcPosition(uint8_t joy_pos){
     if(joy_pos >= 0) {
         calcPosition = rampPosition[joy_pos];
     } else {
-        calcPosition = -rampPosition[-joy_pos];
+        joy_pos *= -1;
+        calcPosition = rampPosition[joy_pos];
+        rampPosition *= -1;
     }
     calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR;
     calcPosition /= 1000;
diff --git a/306-controller_interface.X/app/kartculator.h b/306-controller_interface.X/app/kartculator.h
index cad450f..dcfd52c 100644
--- a/306-controller_interface.X/app/kartculator.h
+++ b/306-controller_interface.X/app/kartculator.h
@@ -13,6 +13,7 @@
 #include "../mcc_generated_files/mcc.h"
 #include "car.h"
 
+void initRamp();
 void deadJoystick(void* p);
 void calcTorque(uint8_t joy_pos);
 void calcPosition(uint8_t joy_pos);