Klagarge/SummerSchool2-Controller
Klagarge/SummerSchool2-Controller
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fix ramp

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fix curve and add headlights
This commit is contained in:
Rémi Heredero 2023-09-07 14:18:29 +02:00
parent 5c555f6ee1
commit 8f1b0c2c13
3 changed files with 231 additions and 203 deletions
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13
306-controller_interface.X/app/can_message.c
View File

@ -224,7 +224,12 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
if(idMsg == 0xF) { // DISPLAY_ALIVE if(idMsg == 0xF) { // DISPLAY_ALIVE
// powerMode - - - // powerMode - - -
// TODO display say ALIVE // TODO display say ALIVE
eKart.powerMode = incomeData.separate.byte0;
if (eKart.powerMode == 0) {
CM_HEADLIGHTS(&ALWAYSFALSE);
} else {
CM_HEADLIGHTS(&ALWAYSTRUE);
}
} }
break; break;
@ -441,3 +446,9 @@ void CM_SUPPLY_SETUP(void* p) {
supply.separate.byte3 = KART_CST.BATTERY_ALIVE_TIME; supply.separate.byte3 = KART_CST.BATTERY_ALIVE_TIME;
CAN_Send(6, 0, supply.full); CAN_Send(6, 0, supply.full);
} }
void CM_HEADLIGHTS(void* p) {
// status - - -
bool status = *((bool*) p);
CAN_send_1_byte(0, 4, status);
}

6
306-controller_interface.X/app/can_message.h
View File

@ -88,6 +88,12 @@ void CM_STEERING_SET(void* p);
*/ */
void CM_SUPPLY_SETUP(void* p); void CM_SUPPLY_SETUP(void* p);
/**
* Send headlights on or off
* @param p true if on, false if off;
*/
void CM_HEADLIGHTS(void* p);
#endif /* CAN_MESSAGE_H */ #endif /* CAN_MESSAGE_H */

415
306-controller_interface.X/app/kartculator.c
View File

@ -14,221 +14,227 @@ void deadJoystick(void* p){
void initRamp() { void initRamp() {
rampTorque[0] = 0; rampTorque[0] = 0;
rampTorque[1] = 2; rampTorque[1] = 3;
rampTorque[2] = 5; rampTorque[2] = 5;
rampTorque[3] = 7; rampTorque[3] = 7;
rampTorque[4] = 9; rampTorque[4] = 10;
rampTorque[5] = 11; rampTorque[5] = 12;
rampTorque[6] = 13; rampTorque[6] = 14;
rampTorque[7] = 14; rampTorque[7] = 16;
rampTorque[8] = 16; rampTorque[8] = 18;
rampTorque[9] = 18; rampTorque[9] = 20;
rampTorque[10] = 19; rampTorque[10] = 22;
rampTorque[11] = 21; rampTorque[11] = 24;
rampTorque[12] = 22; rampTorque[12] = 25;
rampTorque[13] = 23; rampTorque[13] = 27;
rampTorque[14] = 24; rampTorque[14] = 28;
rampTorque[15] = 26; rampTorque[15] = 30;
rampTorque[16] = 27; rampTorque[16] = 31;
rampTorque[17] = 28; rampTorque[17] = 33;
rampTorque[18] = 29; rampTorque[18] = 34;
rampTorque[19] = 29; rampTorque[19] = 36;
rampTorque[20] = 30; rampTorque[20] = 37;
rampTorque[21] = 31; rampTorque[21] = 38;
rampTorque[22] = 32; rampTorque[22] = 39;
rampTorque[23] = 32; rampTorque[23] = 40;
rampTorque[24] = 33; rampTorque[24] = 41;
rampTorque[25] = 33; rampTorque[25] = 42;
rampTorque[26] = 34; rampTorque[26] = 43;
rampTorque[27] = 34; rampTorque[27] = 44;
rampTorque[28] = 35; rampTorque[28] = 45;
rampTorque[29] = 35; rampTorque[29] = 46;
rampTorque[30] = 35; rampTorque[30] = 47;
rampTorque[31] = 36; rampTorque[31] = 47;
rampTorque[32] = 36; rampTorque[32] = 48;
rampTorque[33] = 36; rampTorque[33] = 49;
rampTorque[34] = 36; rampTorque[34] = 50;
rampTorque[35] = 37; rampTorque[35] = 50;
rampTorque[36] = 37; rampTorque[36] = 51;
rampTorque[37] = 37; rampTorque[37] = 51;
rampTorque[38] = 37; rampTorque[38] = 52;
rampTorque[39] = 37; rampTorque[39] = 53;
rampTorque[40] = 37; rampTorque[40] = 53;
rampTorque[41] = 37; rampTorque[41] = 53;
rampTorque[42] = 37; rampTorque[42] = 54;
rampTorque[43] = 37; rampTorque[43] = 54;
rampTorque[44] = 37; rampTorque[44] = 55;
rampTorque[45] = 37; rampTorque[45] = 55;
rampTorque[46] = 37; rampTorque[46] = 56;
rampTorque[47] = 37; rampTorque[47] = 56;
rampTorque[48] = 37; rampTorque[48] = 56;
rampTorque[49] = 37; rampTorque[49] = 57;
rampTorque[50] = 38; rampTorque[50] = 57;
rampTorque[51] = 38; rampTorque[51] = 58;
rampTorque[52] = 38; rampTorque[52] = 58;
rampTorque[53] = 38; rampTorque[53] = 58;
rampTorque[54] = 38; rampTorque[54] = 59;
rampTorque[55] = 38; rampTorque[55] = 59;
rampTorque[56] = 38; rampTorque[56] = 59;
rampTorque[57] = 38; rampTorque[57] = 60;
rampTorque[58] = 38; rampTorque[58] = 60;
rampTorque[59] = 39; rampTorque[59] = 60;
rampTorque[60] = 39; rampTorque[60] = 61;
rampTorque[61] = 39; rampTorque[61] = 61;
rampTorque[62] = 39; rampTorque[62] = 62;
rampTorque[63] = 40; rampTorque[63] = 62;
rampTorque[64] = 40; rampTorque[64] = 62;
rampTorque[65] = 41; rampTorque[65] = 63;
rampTorque[66] = 41; rampTorque[66] = 63;
rampTorque[67] = 42; rampTorque[67] = 64;
rampTorque[68] = 42; rampTorque[68] = 64;
rampTorque[69] = 43; rampTorque[69] = 65;
rampTorque[70] = 44; rampTorque[70] = 65;
rampTorque[71] = 44; rampTorque[71] = 66;
rampTorque[72] = 45; rampTorque[72] = 67;
rampTorque[73] = 46; rampTorque[73] = 67;
rampTorque[74] = 47; rampTorque[74] = 68;
rampTorque[75] = 48; rampTorque[75] = 69;
rampTorque[76] = 49; rampTorque[76] = 69;
rampTorque[77] = 50; rampTorque[77] = 70;
rampTorque[78] = 51; rampTorque[78] = 71;
rampTorque[79] = 52; rampTorque[79] = 72;
rampTorque[80] = 54; rampTorque[80] = 72;
rampTorque[81] = 55; rampTorque[81] = 73;
rampTorque[82] = 57; rampTorque[82] = 74;
rampTorque[83] = 58; rampTorque[83] = 75;
rampTorque[84] = 60; rampTorque[84] = 76;
rampTorque[85] = 62; rampTorque[85] = 77;
rampTorque[86] = 64; rampTorque[86] = 78;
rampTorque[87] = 65; rampTorque[87] = 80;
rampTorque[88] = 67; rampTorque[88] = 81;
rampTorque[89] = 70; rampTorque[89] = 82;
rampTorque[90] = 72; rampTorque[90] = 83;
rampTorque[91] = 74; rampTorque[91] = 85;
rampTorque[92] = 77; rampTorque[92] = 86;
rampTorque[93] = 79; rampTorque[93] = 88;
rampTorque[94] = 82; rampTorque[94] = 89;
rampTorque[95] = 85; rampTorque[95] = 91;
rampTorque[96] = 87; rampTorque[96] = 93;
rampTorque[97] = 90; rampTorque[97] = 94;
rampTorque[98] = 93; rampTorque[98] = 96;
rampTorque[99] = 97; rampTorque[99] = 98;
rampTorque[100] = 100; rampTorque[100] = 100;
rampPosition[0] = 0; rampPosition[0] = 0;
rampPosition[1] = 0; rampPosition[1] = 0;
rampPosition[2] = 1; rampPosition[2] = 0;
rampPosition[3] = 1; rampPosition[3] = 0;
rampPosition[4] = 1; rampPosition[4] = 0;
rampPosition[5] = 1; rampPosition[5] = 1;
rampPosition[6] = 2; rampPosition[6] = 1;
rampPosition[7] = 2; rampPosition[7] = 1;
rampPosition[8] = 2; rampPosition[8] = 2;
rampPosition[9] = 3; rampPosition[9] = 2;
rampPosition[10] = 3; rampPosition[10] = 3;
rampPosition[11] = 4; rampPosition[11] = 3;
rampPosition[12] = 4; rampPosition[12] = 4;
rampPosition[13] = 4; rampPosition[13] = 5;
rampPosition[14] = 5; rampPosition[14] = 5;
rampPosition[15] = 5; rampPosition[15] = 6;
rampPosition[16] = 6; rampPosition[16] = 7;
rampPosition[17] = 6; rampPosition[17] = 8;
rampPosition[18] = 7; rampPosition[18] = 9;
rampPosition[19] = 7; rampPosition[19] = 9;
rampPosition[20] = 8; rampPosition[20] = 10;
rampPosition[21] = 8; rampPosition[21] = 11;
rampPosition[22] = 9; rampPosition[22] = 12;
rampPosition[23] = 9; rampPosition[23] = 13;
rampPosition[24] = 10; rampPosition[24] = 15;
rampPosition[25] = 11; rampPosition[25] = 16;
rampPosition[26] = 11; rampPosition[26] = 17;
rampPosition[27] = 12; rampPosition[27] = 18;
rampPosition[28] = 13; rampPosition[28] = 19;
rampPosition[29] = 13; rampPosition[29] = 20;
rampPosition[30] = 14; rampPosition[30] = 22;
rampPosition[31] = 15; rampPosition[31] = 23;
rampPosition[32] = 15; rampPosition[32] = 24;
rampPosition[33] = 16; rampPosition[33] = 25;
rampPosition[34] = 17; rampPosition[34] = 27;
rampPosition[35] = 18; rampPosition[35] = 28;
rampPosition[36] = 18; rampPosition[36] = 30;
rampPosition[37] = 19; rampPosition[37] = 31;
rampPosition[38] = 20; rampPosition[38] = 32;
rampPosition[39] = 21; rampPosition[39] = 34;
rampPosition[40] = 22; rampPosition[40] = 35;
rampPosition[41] = 23; rampPosition[41] = 37;
rampPosition[42] = 23; rampPosition[42] = 38;
rampPosition[43] = 24; rampPosition[43] = 40;
rampPosition[44] = 25; rampPosition[44] = 41;
rampPosition[45] = 26; rampPosition[45] = 43;
rampPosition[46] = 27; rampPosition[46] = 44;
rampPosition[47] = 28; rampPosition[47] = 46;
rampPosition[48] = 29; rampPosition[48] = 47;
rampPosition[49] = 30; rampPosition[49] = 49;
rampPosition[50] = 31; rampPosition[50] = 50;
rampPosition[51] = 32; rampPosition[51] = 51;
rampPosition[52] = 33; rampPosition[52] = 53;
rampPosition[53] = 34; rampPosition[53] = 54;
rampPosition[54] = 35; rampPosition[54] = 56;
rampPosition[55] = 36; rampPosition[55] = 57;
rampPosition[56] = 37; rampPosition[56] = 59;
rampPosition[57] = 38; rampPosition[57] = 60;
rampPosition[58] = 39; rampPosition[58] = 62;
rampPosition[59] = 41; rampPosition[59] = 63;
rampPosition[60] = 42; rampPosition[60] = 65;
rampPosition[61] = 43; rampPosition[61] = 66;
rampPosition[62] = 44; rampPosition[62] = 68;
rampPosition[63] = 45; rampPosition[63] = 69;
rampPosition[64] = 46; rampPosition[64] = 70;
rampPosition[65] = 48; rampPosition[65] = 72;
rampPosition[66] = 49; rampPosition[66] = 73;
rampPosition[67] = 50; rampPosition[67] = 75;
rampPosition[68] = 51; rampPosition[68] = 76;
rampPosition[69] = 53; rampPosition[69] = 77;
rampPosition[70] = 54; rampPosition[70] = 78;
rampPosition[71] = 55; rampPosition[71] = 80;
rampPosition[72] = 57; rampPosition[72] = 81;
rampPosition[73] = 58; rampPosition[73] = 82;
rampPosition[74] = 59; rampPosition[74] = 83;
rampPosition[75] = 61; rampPosition[75] = 84;
rampPosition[76] = 62; rampPosition[76] = 85;
rampPosition[77] = 63; rampPosition[77] = 87;
rampPosition[78] = 65; rampPosition[78] = 88;
rampPosition[79] = 66; rampPosition[79] = 89;
rampPosition[80] = 68; rampPosition[80] = 90;
rampPosition[81] = 69; rampPosition[81] = 91;
rampPosition[82] = 71; rampPosition[82] = 91;
rampPosition[83] = 72; rampPosition[83] = 92;
rampPosition[84] = 74; rampPosition[84] = 93;
rampPosition[85] = 75; rampPosition[85] = 94;
rampPosition[86] = 77; rampPosition[86] = 95;
rampPosition[87] = 78; rampPosition[87] = 95;
rampPosition[88] = 80; rampPosition[88] = 96;
rampPosition[89] = 82; rampPosition[89] = 97;
rampPosition[90] = 83; rampPosition[90] = 97;
rampPosition[91] = 85; rampPosition[91] = 98;
rampPosition[92] = 86; rampPosition[92] = 98;
rampPosition[93] = 88; rampPosition[93] = 99;
rampPosition[94] = 90; rampPosition[94] = 99;
rampPosition[95] = 91; rampPosition[95] = 99;
rampPosition[96] = 93; rampPosition[96] = 100;
rampPosition[97] = 95; rampPosition[97] = 100;
rampPosition[98] = 97; rampPosition[98] = 100;
rampPosition[99] = 98; rampPosition[99] = 100;
rampPosition[100] = 100; rampPosition[100] = 100;
} }
void calcTorque(uint8_t joy_pos) { void calcTorque(uint8_t joy_pos) {
int32_t calcTorque; int32_t calcTorque;
calcTorque = (int8_t) joy_pos; // joystick position calcTorque = (int8_t) joy_pos; // joystick position
if(joy_pos >= 0) {
calcTorque = rampTorque[joy_pos]; // if mode race, use special curve for torque
} else { if(eKart.powerMode == 2) {
joy_pos *= -1; if(calcTorque >= 0) {
calcTorque = rampTorque[joy_pos]; calcTorque = rampTorque[calcTorque];
calcTorque *= -1; } else {
calcTorque *= -1;
calcTorque = rampTorque[calcTorque];
calcTorque *= -1;
}
} }
calcTorque *= KART_CST.CONTROL_POWER_FACTOR; // convert by power factor calcTorque *= KART_CST.CONTROL_POWER_FACTOR; // convert by power factor
calcTorque /= 1000; // torque define by joystick calcTorque /= 1000; // torque define by joystick
eKart.torque = (int16_t) calcTorque; eKart.torque = (int16_t) calcTorque;
@ -238,13 +244,18 @@ void calcPosition(uint8_t joy_pos){
int32_t calcPosition; int32_t calcPosition;
calcPosition = (int8_t) joy_pos; calcPosition = (int8_t) joy_pos;
calcPosition *= -1; // change left and right calcPosition *= -1; // change left and right
if(joy_pos >= 0) {
calcPosition = rampPosition[joy_pos]; // if mode race, use special curve for steering
} else { if (eKart.powerMode == 2) {
joy_pos *= -1; if(calcPosition >= 0) {
calcPosition = rampPosition[joy_pos]; calcPosition = rampPosition[calcPosition];
rampPosition *= -1; } else {
calcPosition *= -1;
calcPosition = rampPosition[calcPosition];
calcPosition *= -1;
}
} }
calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR; calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR;
calcPosition /= 1000; calcPosition /= 1000;
calcPosition += eKart.center; calcPosition += eKart.center;