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make control-modes and TCS work [proof of concept]

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Tested new control modes on actual hardware.
Adjust new code so the modes kind of work now, as proof of concept.
Still needs major optimization and fixes though.

motorctl:
    - add config option to disable logging for particular instance
    - add some definitions to finetune control modes
    - rework current and speed mode, so they actually kind of work
    - fix TCS to not cause deadlock motors off

menu:
    - add item set motorControlMode (select DUTY, CURRENT, SPEED)
    - fix missing item maxDuty

speedsensor: fix return type
This commit is contained in:
jonny_l480
2024-02-28 23:00:38 +01:00
parent 2abeefde07
commit 5d1d17915d
6 changed files with 148 additions and 50 deletions
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4
board_single/main/config.cpp
View File

@@ -48,7 +48,7 @@ void setLoglevels(void)
esp_log_level_set("TESTING", ESP_LOG_VERBOSE);
esp_log_level_set("TESTING", ESP_LOG_ERROR);
@@ -98,6 +98,7 @@ sabertooth2x60_config_t sabertoothConfig = {
//--- configure left motor (contol) ---
motorctl_config_t configMotorControlLeft = {
.name = "left",
.loggingEnabled = true,
.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,
@@ -113,6 +114,7 @@ motorctl_config_t configMotorControlLeft = {
//--- configure right motor (contol) ---
motorctl_config_t configMotorControlRight = {
.name = "right",
.loggingEnabled = false,
.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,

55
board_single/main/menu.cpp
View File

@@ -343,6 +343,49 @@ menuItem_t item_decelLimit = {
};
//###############################
//### select motorControlMode ###
//###############################
void item_motorControlMode_action(display_task_parameters_t *objects, SSD1306_t *display, int value)
{
switch (value)
{
case 1:
default:
objects->motorLeft->setControlMode(motorControlMode_t::DUTY);
objects->motorRight->setControlMode(motorControlMode_t::DUTY);
break;
case 2:
objects->motorLeft->setControlMode(motorControlMode_t::CURRENT);
objects->motorRight->setControlMode(motorControlMode_t::CURRENT);
break;
case 3:
objects->motorLeft->setControlMode(motorControlMode_t::SPEED);
objects->motorRight->setControlMode(motorControlMode_t::SPEED);
break;
}
}
int item_motorControlMode_value(display_task_parameters_t *objects)
{
return 1; // initial value shown / changed from //TODO get actual mode
}
menuItem_t item_motorControlMode = {
item_motorControlMode_action, // function action
item_motorControlMode_value, // function get initial value or NULL(show in line 2)
NULL, // function get default value or NULL(dont set value, show msg)
1, // valueMin
3, // valueMax
1, // valueIncrement
"Control mode ", // title
" sel. motor ", // line1 (above value)
" control mode ", // line2 (above value)
"1: DUTY (defaul)", // line4 * (below value)
"2: CURRENT", // line5 *
"3: SPEED", // line6
"", // line7
};
//###################################
//##### Traction Control System #####
//###################################
@@ -372,10 +415,10 @@ menuItem_t item_tractionControlSystem = {
"TCS / ASR ", // title
"Traction Control", // line1 (above value)
" System ", // line2 (above value)
"", // line4 * (below value)
"", // line5 *
"1: enable ", // line6
"0: disable ", // line7
"1: enable ", // line4 * (below value)
"0: disable ", // line5 *
"note: requires ", // line6
"speed ctl-mode ", // line7
};
@@ -508,8 +551,8 @@ menuItem_t item_last = {
//####################################################
//### store all configured menu items in one array ###
//####################################################
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;
const menuItem_t menuItems[] = {item_centerJoystick, item_calibrateJoystick, item_debugJoystick, item_statusScreen, item_maxDuty, item_accelLimit, item_decelLimit, item_motorControlMode, item_tractionControlSystem, item_reset, item_example, item_last};
const int itemCount = 10;