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Add Duty, Current, Speed control modes, Add traction-control [testing]

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very experimental needs testing/debugging,
other control modes can currently be selected by editing the class definition in motorctl.hpp

menu/config
  - add menu item to enable/disable traction control system

main: pass ptr to other motor to motor object

speedsensor: add method to get last update time

motorctl: handle loop:
  - re-arrange some code sections
  - add several methods to get current status (needed from other motor for tcs)
  - add sketchy code for different control modes DUTY, CURRENT, SPEED (very basic implementation)
  - add experimental code for traction control
This commit is contained in:
jonny_jr9
2024-02-28 10:21:53 +01:00
parent 2bf2276dbe
commit 2abeefde07
8 changed files with 316 additions and 81 deletions
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9
board_single/main/config.cpp
View File

@@ -45,6 +45,13 @@ void setLoglevels(void)
esp_log_level_set("chair-adjustment", ESP_LOG_INFO);
esp_log_level_set("menu", ESP_LOG_INFO);
esp_log_level_set("encoder", ESP_LOG_INFO);
esp_log_level_set("TESTING", ESP_LOG_VERBOSE);
}
//==================================
@@ -94,6 +101,7 @@ motorctl_config_t configMotorControlLeft = {
.msFadeAccel = 1500, // acceleration of the motor (ms it takes from 0% to 100%)
.msFadeDecel = 1000, // deceleration of the motor (ms it takes from 100% to 0%)
.currentLimitEnabled = false,
.tractionControlSystemEnabled = false,
.currentSensor_adc = ADC1_CHANNEL_4, // GPIO32
.currentSensor_ratedCurrent = 50,
.currentMax = 30,
@@ -108,6 +116,7 @@ motorctl_config_t configMotorControlRight = {
.msFadeAccel = 1500, // acceleration of the motor (ms it takes from 0% to 100%)
.msFadeDecel = 1000, // deceleration of the motor (ms it takes from 100% to 0%)
.currentLimitEnabled = false,
.tractionControlSystemEnabled = false,
.currentSensor_adc = ADC1_CHANNEL_5, // GPIO33
.currentSensor_ratedCurrent = 50,
.currentMax = 30,

10
board_single/main/main.cpp
View File

@@ -142,16 +142,16 @@ void createObjects()
// with configuration above
//sabertoothDriver = new sabertooth2x60a(sabertoothConfig);
// create controlled motor instances (motorctl.hpp)
// with configurations from config.cpp
motorLeft = new controlledMotor(setLeftFunc, configMotorControlLeft, &nvsHandle);
motorRight = new controlledMotor(setRightFunc, configMotorControlRight, &nvsHandle);
// create speedsensor instances
// with configurations from config.cpp
speedLeft = new speedSensor(speedLeft_config);
speedRight = new speedSensor(speedRight_config);
// create controlled motor instances (motorctl.hpp)
// with configurations from config.cpp
motorLeft = new controlledMotor(setLeftFunc, configMotorControlLeft, &nvsHandle, speedLeft, &motorRight); //note: ptr to ptr of controlledMotor since it isnt defined yet
motorRight = new controlledMotor(setRightFunc, configMotorControlRight, &nvsHandle, speedRight, &motorLeft);
// create joystick instance (joystick.hpp)
joystick = new evaluatedJoystick(configJoystick, &nvsHandle);

40
board_single/main/menu.cpp
View File

@@ -343,6 +343,42 @@ menuItem_t item_decelLimit = {
};
//###################################
//##### Traction Control System #####
//###################################
void tractionControlSystem_action(display_task_parameters_t * objects, SSD1306_t * display, int value)
{
if (value == 1){
objects->motorLeft->enableTractionControlSystem();
objects->motorRight->enableTractionControlSystem();
ESP_LOGW(TAG, "enabled Traction Control System");
} else {
objects->motorLeft->disableTractionControlSystem();
objects->motorRight->disableTractionControlSystem();
ESP_LOGW(TAG, "disabled Traction Control System");
}
}
int tractionControlSystem_currentValue(display_task_parameters_t * objects)
{
return (int)objects->motorLeft->getTractionControlSystemStatus();
}
menuItem_t item_tractionControlSystem = {
tractionControlSystem_action, // function action
tractionControlSystem_currentValue, // function get initial value or NULL(show in line 2)
NULL, // function get default value or NULL(dont set value, show msg)
0, // valueMin
1, // valueMax
1, // valueIncrement
"TCS / ASR ", // title
"Traction Control", // line1 (above value)
" System ", // line2 (above value)
"", // line4 * (below value)
"", // line5 *
"1: enable ", // line6
"0: disable ", // line7
};
//#####################
//####### RESET #######
//#####################
@@ -472,8 +508,8 @@ menuItem_t item_last = {
//####################################################
//### store all configured menu items in one array ###
//####################################################
const menuItem_t menuItems[] = {item_centerJoystick, item_calibrateJoystick, item_debugJoystick, item_maxDuty, item_accelLimit, item_decelLimit, item_statusScreen, item_reset, item_example, item_last};
const int itemCount = 8;
const menuItem_t menuItems[] = {item_centerJoystick, item_calibrateJoystick, item_debugJoystick, item_statusScreen, item_accelLimit, item_decelLimit, item_tractionControlSystem, item_reset, item_example, item_last};
const int itemCount = 9;