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Optimize turning: allow duty=0 for inner wheel, prepare ratio snap threshold

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- joystick command generation:
    - also remove min duty offset with changing ratio
- prepare threshold where ratio snaps to max for easier turning
  -> issue with driver has to be fixed first

- minor motordriver optimization / add commented out debug mode
  (driver forward in idle)
This commit is contained in:
jonny_l480 2023-08-16 13:48:05 +02:00
parent d715f2e0f1
commit 3ba37baeda
2 changed files with 20 additions and 7 deletions
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22
main/joystick.cpp
View File

@ -227,6 +227,7 @@ float scaleLinPoint(float value, float pointX, float pointY){
}
//function that updates a joystickData object with linear scaling applied to coordinates
//e.g. use to use more joystick resolution for lower speeds
//TODO rename this function to more general name (scales not only coordinates e.g. adjusts radius, in future angle...)
void joystick_scaleCoordinatesLinear(joystickData_t * data, float pointX, float pointY){
// --- scale x and y coordinate ---
/*
@ -243,7 +244,7 @@ void joystick_scaleCoordinatesLinear(joystickData_t * data, float pointX, float
// - messed up radius calculation - radius never gets 1 at diagonal positions
//==> only scaling radius as only speed should be more acurate at low radius:
//--- scale radius only ---
//--- scale radius ---
data-> radius = scaleLinPoint(data->radius, pointX, pointY);
}
@ -312,11 +313,20 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
motorCommands_t commands;
float dutyMax = 95; //TODO add this to config, make changeable during runtime
float dutyMax = 90; //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;
float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0
//snap ratio to max at threshold (-> more joystick area where inner wheel is off when turning)
/*
//FIXME works, but armchair unsusable because of current bug with motor driver (inner motor freezes after turn)
float ratioClipThreshold = 0.3;
if (ratio < ratioClipThreshold) ratio = 0;
else if (ratio > 1-ratioClipThreshold) ratio = 1;
//TODO subtract this clip threshold from available joystick range at ratio usage
*/
//experimental alternative control mode
if (altStickMapping == true){
@ -366,13 +376,13 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
commands.left.state = motorstate_t::FWD;
commands.right.state = motorstate_t::FWD;
commands.left.duty = data.radius * dutyRange + dutyOffset;
commands.right.duty = data.radius * dutyRange - data.radius*dutyRange*(1-ratio) + dutyOffset;
commands.right.duty = data.radius * dutyRange - (data.radius*dutyRange + dutyOffset)*(1-ratio) + dutyOffset;
break;
case joystickPos_t::TOP_LEFT:
commands.left.state = motorstate_t::FWD;
commands.right.state = motorstate_t::FWD;
commands.left.duty = data.radius * dutyRange - data.radius*dutyRange*(1-ratio) + dutyOffset;
commands.left.duty = data.radius * dutyRange - (data.radius*dutyRange + dutyOffset)*(1-ratio) + dutyOffset;
commands.right.duty = data.radius * dutyRange + dutyOffset;
break;
@ -380,13 +390,13 @@ motorCommands_t joystick_generateCommandsDriving(joystickData_t data, bool altSt
commands.left.state = motorstate_t::REV;
commands.right.state = motorstate_t::REV;
commands.left.duty = data.radius * dutyRange + dutyOffset;
commands.right.duty = data.radius * dutyRange - data.radius*dutyRange*(1-ratio) + dutyOffset; //TODO remove offset? allow one motor only
commands.right.duty = data.radius * dutyRange - (data.radius*dutyRange + dutyOffset)*(1-ratio) + dutyOffset;
break;
case joystickPos_t::BOTTOM_RIGHT:
commands.left.state = motorstate_t::REV;
commands.right.state = motorstate_t::REV;
commands.left.duty = data.radius * dutyRange - data.radius*dutyRange*(1-ratio) + dutyOffset; //TODO remove offset? allow one motor only
commands.left.duty = data.radius * dutyRange - (data.radius*dutyRange + dutyOffset)*(1-ratio) + dutyOffset;
commands.right.duty = data.radius * dutyRange + dutyOffset;
break;
}

5
main/motordrivers.cpp
View File

@ -83,7 +83,8 @@ void single100a::set(motorstate_t state_f, float duty_f){
uint32_t dutyScaled;
if (duty_f > 100) { //target duty above 100%
dutyScaled = dutyMax;
} else if (duty_f < 0) { //target duty below 0%
} else if (duty_f <= 0) { //target at or below 0%
state_f = motorstate_t::IDLE;
dutyScaled = 0;
} else { //target duty 0-100%
//scale duty to available resolution
@ -97,6 +98,8 @@ void single100a::set(motorstate_t state_f, float duty_f){
ledc_update_duty(LEDC_HIGH_SPEED_MODE, config.ledc_channel);
//TODO: to fix bugged state of h-bridge module when idle and start again, maybe try to leave pwm signal on for some time before updating a/b pins?
//no brake: (freewheel)
//gpio_set_level(config.gpio_a, config.aEnabledPinState);
//gpio_set_level(config.gpio_b, !config.bEnabledPinState);
gpio_set_level(config.gpio_a, config.aEnabledPinState);
gpio_set_level(config.gpio_b, config.bEnabledPinState);
break;