Config optimizations (Test-drive)

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

board_single/main/button.cpp

@@ -61,10 +61,11 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
                 esp_restart();
                 return;
             } 
-
+			//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)
+//            ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
-            control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1) -> control.cpp has to be changed
+//            //-> 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);
+            //decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
-            motorRight->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);

board_single/main/config.cpp

@@ -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%)
+    .msFadeAccel = 1800, //acceleration of the motor (ms it takes from 0% to 100%)
-    .msFadeDecel = 1000, //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 = true,
+	.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_min = 1710, //=> x=-1
-    .x_max = 2650, //=> x=1
+    .x_max = 2980, //=> x=1
-    .y_min = 1390, //=> y=-1
+    .y_min = 1700, //=> y=-1
-    .y_max = 2640, //=> y=1
+    .y_max = 2970, //=> y=1
     //invert adc measurement
     .x_inverted = true,
     .y_inverted = true

board_single/main/config.hpp

@@ -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?

board_single/main/main.cpp

@@ -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("motordriver", ESP_LOG_ERROR);
-    esp_log_level_set("motor-control", ESP_LOG_INFO);
+    //esp_log_level_set("motor-control", ESP_LOG_INFO);
-    //esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
+	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);

common/joystick.cpp

@@ -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;