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Config optimizations (Test-drive)

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Successfull test drive with new driver
- set max duty from 90 to 100
- config adjust fading, calibrate joystick, disable deadtime
- disable 1x button cmd
- 8x sport mode: toggle accel not decel
This commit is contained in:
jonny_l480 2023-09-09 16:10:18 +02:00
parent 27a94d7ab6
commit 3449bb7f34
5 changed files with 25 additions and 22 deletions
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15
board_single/main/button.cpp
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@ -61,10 +61,11 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
esp_restart();
return;
}
ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
//-> define joystick center or toggle freeze input (executed in control task)
control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1) -> control.cpp has to be changed
//note: disabled joystick calibration due to accidential trigger
//
// ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
// //-> define joystick center or toggle freeze input (executed in control task)
// control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1) -> control.cpp has to be changed
break;
case 2:
//run automatic commands to lift leg support when pressed 1x short 1x long
@ -135,8 +136,10 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
case 8:
//toggle deceleration fading between on and off
decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
motorRight->toggleFade(fadeType_t::DECEL);
//decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
//motorRight->toggleFade(fadeType_t::DECEL);
decelEnabled = motorLeft->toggleFade(fadeType_t::ACCEL);
motorRight->toggleFade(fadeType_t::ACCEL);
ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled);
if (decelEnabled){
buzzer->beep(3, 60, 50);

22
board_single/main/config.cpp
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@ -42,23 +42,23 @@ sabertooth2x60_config_t sabertoothConfig = {
//--- configure left motor (contol) ---
motorctl_config_t configMotorControlLeft = {
.msFadeAccel = 1800, //acceleration of the motor (ms it takes from 0% to 100%)
.msFadeDecel = 2500, //deceleration of the motor (ms it takes from 100% to 0%)
.msFadeDecel = 1900, //deceleration of the motor (ms it takes from 100% to 0%)
.currentLimitEnabled = false,
.currentSensor_adc = ADC1_CHANNEL_4, //GPIO32
.currentSensor_ratedCurrent = 50,
.currentMax = 30,
.deadTimeMs = 300 //minimum time motor is off between direction change
.deadTimeMs = 0 //minimum time motor is off between direction change
};
//--- configure right motor (contol) ---
motorctl_config_t configMotorControlRight = {
.msFadeAccel = 1900, //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 = true,
.msFadeAccel = 1800, //acceleration of the motor (ms it takes from 0% to 100%)
.msFadeDecel = 1900, //deceleration of the motor (ms it takes from 100% to 0%)
.currentLimitEnabled = false,
.currentSensor_adc = ADC1_CHANNEL_5, //GPIO33
.currentSensor_ratedCurrent = 50,
.currentMax = 30,
.deadTimeMs = 300 //minimum time motor is off between direction change
.deadTimeMs = 0 //minimum time motor is off between direction change
};
@ -69,7 +69,7 @@ motorctl_config_t configMotorControlRight = {
control_config_t configControl = {
.defaultMode = controlMode_t::JOYSTICK, //default mode after startup and toggling IDLE
//--- timeout ---
.timeoutMs = 5*60*1000, //time of inactivity after which the mode gets switched to IDLE
.timeoutMs = 3*60*1000, //time of inactivity after which the mode gets switched to IDLE
.timeoutTolerancePer = 5, //percentage the duty can vary between timeout checks considered still inactive
//--- http mode ---
@ -104,10 +104,10 @@ joystick_config_t configJoystick = {
.tolerance_radius = 0.09,
//min and max adc values of each axis, !!!AFTER INVERSION!!! is applied:
.x_min = 1392, //=> x=-1
.x_max = 2650, //=> x=1
.y_min = 1390, //=> y=-1
.y_max = 2640, //=> y=1
.x_min = 1710, //=> x=-1
.x_max = 2980, //=> x=1
.y_min = 1700, //=> y=-1
.y_max = 2970, //=> y=1
//invert adc measurement
.x_inverted = true,
.y_inverted = true

2
board_single/main/config.hpp
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@ -14,7 +14,7 @@
//in IDLE mode: set loglevel for evaluatedJoystick to DEBUG
//and repeatedly read joystick e.g. for manually calibrating / testing joystick
//#define JOYSTICK_LOG_IN_IDLE
#define JOYSTICK_LOG_IN_IDLE
//TODO outsource global variables to e.g. global.cpp and only config options here?

6
board_single/main/main.cpp
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@ -139,9 +139,9 @@ void setLoglevels(void){
//--- set loglevel for individual tags ---
esp_log_level_set("main", ESP_LOG_INFO);
esp_log_level_set("buzzer", ESP_LOG_ERROR);
esp_log_level_set("motordriver", ESP_LOG_INFO);
esp_log_level_set("motor-control", ESP_LOG_INFO);
//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
//esp_log_level_set("motordriver", ESP_LOG_ERROR);
//esp_log_level_set("motor-control", ESP_LOG_INFO);
esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
//esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
esp_log_level_set("button", ESP_LOG_INFO);
esp_log_level_set("control", ESP_LOG_INFO);

2
common/joystick.cpp
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@ -310,7 +310,7 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
//--- variables ---
motorCommands_t commands;
float dutyMax = 90; //TODO add this to config, make changeable during runtime
float dutyMax = 100; //TODO add this to config, make changeable during runtime
float dutyOffset = 5; //immediately starts with this duty, TODO add this to config
float dutyRange = dutyMax - dutyOffset;