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Fix dynamic 'decel-boost' - proof of concept works

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When moving the joystick in other direction than driving
the deceleration gets speed up.
The boost scales with how far the stick is in other
direction up to a maximum
Some issues with this approach see notes in code
This commit is contained in:
jonny_l480 2024-05-15 18:42:49 +02:00
parent fa114e4138
commit 967f2cd8b5
2 changed files with 5 additions and 3 deletions
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2
board_single/main/config.cpp
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@ -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_DEBUG);
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);

6
common/motorctl.cpp
View File

@ -330,8 +330,9 @@ if ( dutyNow != 0 && esp_log_timestamp() - timestamp_commandReceived > TIMEOUT_I
dutyIncrementAccel = 100;
#define DECEL_BOOST_START_THRESHOLD 10 // boost deceleration when stick/target duty is more than that value in opposite direction
#define DECEL_BOOST_MIN_DECEL_TIME 200 // milliseconds from 100% to 0%
#define DECEL_BOOST_MIN_DECEL_TIME 350 // milliseconds from 100% to 0%
//calculate increment for fading DOWN with passed time since last run and configured fade time
// FIXME: dutyTarget does not represent joystick pos (max maxDuty) -> currently breaks when maxDuty is not set to 100
if (msFadeDecel == 0) //no decel limit (immediately reduce to 0)
dutyIncrementDecel = 100;
//--- dynamic fading ---
@ -340,12 +341,13 @@ if ( dutyNow != 0 && esp_log_timestamp() - timestamp_commandReceived > TIMEOUT_I
{
float normalIncrementDecel = (usPassed / ((float)msFadeDecel * 1000)) * 100; //TODO limit all increments to 100?
//calculate absolute maximum allowed deceleration
float maximumIncrementDecel = (usPassed / (DECEL_BOOST_MIN_DECEL_TIME * 1000)) * 100;
float maximumIncrementDecel = ((float)usPassed / (DECEL_BOOST_MIN_DECEL_TIME * 1000)) * 100;
//calculate how much boost is applied (percent) depending on how much the joystick is in opposite direction
float decelBoostFactor = (fabs(dutyTarget) - DECEL_BOOST_START_THRESHOLD) / (100 - DECEL_BOOST_START_THRESHOLD);
//calculate total deceleration increment (normal + boost)
dutyIncrementDecel = normalIncrementDecel + decelBoostFactor * fabs(maximumIncrementDecel - normalIncrementDecel);
if(log) ESP_LOGW(TAG, "boosting deceleration by %.2f%% of remainder to max decel", decelBoostFactor * 100);
if(log) ESP_LOGW(TAG, "normalInc=%.5f, maxInc=%.5f, totalInc=%.5f", normalIncrementDecel, maximumIncrementDecel, dutyIncrementDecel);
}
else
// normal deceleration according to configured time