80 lines
2.0 KiB
C
80 lines
2.0 KiB
C
/**
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* @author Rémi Heredero
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* @version. 0.0.0
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* @date August 2023
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* @file kartculator.c
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*/
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#include "kartculator.h"
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void deadJoystick(void* p){
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eKart.torque = 0;
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eKart.position = eKart.center;
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}
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void calcTorque(uint8_t joy_pos) {
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int32_t calcTorque;
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static int8_t lastPos = 0;
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int8_t diff = ((int8_t)joy_pos) - lastPos;
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if (diff > KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE) {
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calcTorque = lastPos + KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE;
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} else if (diff < -KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE) {
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calcTorque = lastPos - KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE;
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} else {
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calcTorque = (int8_t) joy_pos; // joystick position
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}
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lastPos = calcTorque;
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calcTorque *= KART_CST.CONTROL_POWER_FACTOR; // convert by power factor
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calcTorque /= 1000; // torque define by joystick
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eKart.torque = (int16_t) calcTorque;
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}
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void calcPosition(uint8_t joy_pos){
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int32_t calcPosition;
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static int8_t lastPos = 0;
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int8_t diff = ((int8_t)joy_pos) - lastPos;
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if (diff > KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING) {
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calcPosition = lastPos + KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING;
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} else if (diff < -KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING) {
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calcPosition = lastPos - KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING;
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} else {
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calcPosition = (int8_t) joy_pos;
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}
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lastPos = calcPosition;
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calcPosition *= -1; // change left and right
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calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR;
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calcPosition /= 1000;
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calcPosition += eKart.center;
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eKart.position = (uint32_t) calcPosition;
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}
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void calcSpeed(int32_t rpm) {
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int32_t calcSpeed;
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if(rpm>=0){
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calcSpeed = rpm;
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} else {
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calcSpeed = -rpm;
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}
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calcSpeed *= 1000;
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calcSpeed /= KART_CST.CONTROL_SPEED_FACTOR;
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eKart.speed = (uint8_t) calcSpeed;
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}
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int16_t getTorque() {
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}
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uint32_t getPosition() {
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}
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uint8_t getSpeed() {
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}
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