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Fix bug no fwd downfade; Add BRAKE; cleanup; [bug]

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- Fix bug where downfade did not work when driving forward
- Add BRAKE command functionality to motorctl (untested, since not used anywhere atm)
- Cleanup: Optimize code, add comments

!!!TODO: there is a fault in the current concept/logic:
fading up/down generally works, however when accelerating
REVERSE fade-down is utilized instead of fade-up.
=> Fix that bug, fade down should only be used when decelerating.
This commit is contained in:
jonny_l480 2022-07-17 17:55:57 +02:00
parent cd804452e4
commit 1360832f5e
2 changed files with 39 additions and 21 deletions
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2
main/config.cpp
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@ -30,7 +30,7 @@ single100a_config_t configDriverRight = {
//--- configure motor contol ---
motorctl_config_t configMotorControl = {
.msFadeUp = 1500,
.msFadeDown = 3000,
.msFadeDown = 1000,
.currentMax = 10
};

58
main/motorctl.cpp
View File

@ -46,8 +46,13 @@ void controlledMotor::handle(){
//--- convert duty ---
//define target duty (-100 to 100) from provided duty and motorstate
//this value is more suitable for the fading algorithm
switch(commandReceive.state){
case motorstate_t::BRAKE:
//update state
state = motorstate_t::BRAKE;
dutyTarget = 0;
break;
case motorstate_t::IDLE:
dutyTarget = 0;
break;
@ -72,6 +77,16 @@ void controlledMotor::handle(){
dutyIncrementDown = 100;
}
//--- BRAKE ---
//brake immediately, update state, duty and exit this cycle of handle function
if (state == motorstate_t::BRAKE){
motor.set(motorstate_t::BRAKE, 0);
dutyNow = 0;
return; //no need to run the fade algorithm
}
//--- calculate difference ---
dutyDelta = dutyTarget - dutyNow;
@ -79,42 +94,45 @@ void controlledMotor::handle(){
//negative: need to decrease
//--- fade up ---
if(dutyDelta > dutyIncrementUp){ //target duty his higher than current duty -> fade up
//dutyDelta is higher than IncrementUp -> fade up
if(dutyDelta > dutyIncrementUp){
ESP_LOGV(TAG, "*fading up*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrementUp, (int)usPassed);
dutyNow += dutyIncrementUp; //increase duty by increment
//--- set lower ---
//} else { //target duty is lower than current duty -> immediately set to target
// ESP_LOGV(TAG, "*setting to target*: target=%.2f%% - previous=%.2f%% ", dutyTarget, dutyNow);
// dutyNow = dutyTarget; //set target duty
//}
}
//--- fade down ---
} else { //target duty is lower than current duty -> fade down
ESP_LOGV(TAG, "*fading up*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrementDown, (int)usPassed);
if (dutyTarget < dutyIncrementDown){ //immediately set to target when closer than increment (avoid negative duty)
dutyNow = dutyTarget;
} else {
dutyNow -= dutyIncrementDown; //decrease duty by increment
}
//dutyDelta is more negative than -IncrementDown -> fade down
else if (dutyDelta < -dutyIncrementDown){
ESP_LOGV(TAG, "*fading down*: target=%.2f%% - previous=%.2f%% - increment=%.6f%% - usSinceLastRun=%d", dutyTarget, dutyNow, dutyIncrementDown, (int)usPassed);
dutyNow -= dutyIncrementDown; //decrease duty by increment
}
//--- set to target ---
//duty is already very close to target (closer than IncrementUp or IncrementDown)
else{
//immediately set to target duty
dutyNow = dutyTarget;
}
//--- apply to motor ---
//convert duty -100 to 100 back to motorstate and duty 0-100
//define motorstate from converted duty -100 to 100
//apply target duty and state to motor driver
//forward
if(dutyNow > 0){
motor.set(motorstate_t::FWD, dutyNow);
state = motorstate_t::FWD;
}
//reverse
else if (dutyNow < 0){
motor.set(motorstate_t::REV, fabs(dutyNow));
state = motorstate_t::REV;
}
//idle
//TODO: add BRAKE case!!!
else {
motor.set(motorstate_t::IDLE, 0);
state = motorstate_t::IDLE;
}
//--- apply to motor ---
motor.set(state, fabs(dutyNow));
//note: BRAKE state is handled earlier
//--- update timestamp ---