Rework brake (decel-boost): simplify, config option

Briefly tested this - brake works as intended

- Add config options brakeDecel and brakePauseBefureResume
- control: update brakeStartThresholdDuty at startup
    and maxDuty change for each motor
- motorctl: drop/simplify decel boost to brake
    (faster deceleration at certain threshold)

board_single/main/config.cpp

@@ -32,7 +32,7 @@ void setLoglevels(void)
     // esp_log_level_set("motordriver", ESP_LOG_DEBUG);
     esp_log_level_set("motor-control", ESP_LOG_WARN);
     // esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
-    esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
+    esp_log_level_set("joystickCommands", ESP_LOG_WARN);
     esp_log_level_set("button", ESP_LOG_INFO);
     esp_log_level_set("control", ESP_LOG_INFO);
     // esp_log_level_set("fan-control", ESP_LOG_INFO);
@@ -108,7 +108,9 @@ motorctl_config_t configMotorControlLeft = {
     .currentMax = 30,
     .currentInverted = true,
     .currentSnapToZeroThreshold = 0.15,
-    .deadTimeMs = 0 // minimum time motor is off between direction change
+    .deadTimeMs = 0, // minimum time motor is off between direction change
+    .brakePauseBeforeResume = 1500,
+    .brakeDecel = 400,
 };
 
 //--- configure right motor (contol) ---
@@ -124,7 +126,9 @@ motorctl_config_t configMotorControlRight = {
     .currentMax = 30,
     .currentInverted = false,
     .currentSnapToZeroThreshold = 0.25,
-    .deadTimeMs = 0 // minimum time motor is off between direction change
+    .deadTimeMs = 0, // minimum time motor is off between direction change
+    .brakePauseBeforeResume = 1500,
+    .brakeDecel = 400,
 };
 
 //------------------------------

board_single/main/control.cpp

@@ -59,6 +59,10 @@ controlledArmchair::controlledArmchair(
     
     // override default config value if maxDuty is found in nvs
     loadMaxDuty();
+    // update brake start threshold with actual max duty for motorctl
+    ESP_LOGW(TAG, "setting brake start threshold for both motors to %.0f", joystickGenerateCommands_config.maxDutyStraight * BRAKE_START_STICK_PERCENTAGE / 100);
+    motorLeft->setBrakeStartThresholdDuty(joystickGenerateCommands_config.maxDutyStraight * BRAKE_START_STICK_PERCENTAGE / 100);
+    motorRight->setBrakeStartThresholdDuty(joystickGenerateCommands_config.maxDutyStraight * BRAKE_START_STICK_PERCENTAGE / 100);
 
     // create semaphore for preventing race condition: mode-change operations while currently still executing certain mode
     handleIteration_mutex = xSemaphoreCreateMutex();

board_single/main/control.hpp

@@ -13,6 +13,8 @@ extern "C"
 #include "speedsensor.hpp"
 #include "chairAdjust.hpp"
 
+//percentage stick has to be moved in the opposite driving direction of current motor direction for braking to start
+#define BRAKE_START_STICK_PERCENTAGE 95
 
 //--------------------------------------------
 //---- struct, enum, variable declarations ---
@@ -93,7 +95,11 @@ class controlledArmchair {
         bool toggleAltStickMapping();
 
         // configure max dutycycle (in joystick or http mode)
-        void setMaxDuty(float maxDutyNew) { writeMaxDuty(maxDutyNew); };
+        void setMaxDuty(float maxDutyNew) { 
+            writeMaxDuty(maxDutyNew);
+            motorLeft->setBrakeStartThresholdDuty(joystickGenerateCommands_config.maxDutyStraight * BRAKE_START_STICK_PERCENTAGE/100);
+            motorRight->setBrakeStartThresholdDuty(joystickGenerateCommands_config.maxDutyStraight * BRAKE_START_STICK_PERCENTAGE/100);
+        };
         float getMaxDuty() const {return joystickGenerateCommands_config.maxDutyStraight; };
         // configure max boost (in joystick or http mode)
         void setMaxRelativeBoostPer(float newValue) { joystickGenerateCommands_config.maxRelativeBoostPercentOfMaxDuty = newValue; };