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Add boost outer tire, Add ratio-threshold, Fix motorctl timeout

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Rework joystick command generation
Fix timeout no commands received in motorctl

Successfully tested this state on actual hardware:
turning behavior is significantly improved - does not get slower when turning anymore

joystick:
    - add boost of inner tire when turning
    - add threshold where ratio snaps to 1
    - optimize structure, logging

control:
    - rename maxDuty to maxDutyStraight to be more clear
    - add methods to change and get new variable RelativeBoostPer for menu item

menu:
    - add new item to set maxRelativeBoost config parameter

motorctl:
    - fix timeout not working:
    previously when not receiving commands for 15s the duty was set to 0 for 1 handle cycle only
This commit is contained in:
jonny_l480
2024-03-05 23:59:12 +01:00
parent 179c608638
commit a6a630af44
7 changed files with 116 additions and 53 deletions
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18
board_single/main/config.cpp
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@@ -251,7 +251,19 @@ rotary_encoder_t encoder_config = {
//-----------------------------------
//configure parameters for motor command generation from joystick data
joystickGenerateCommands_config_t joystickGenerateCommands_config{
.maxDuty = 100,
.dutyOffset = 5, // duty at which motors start immediately
.altStickMapping = false,
//-- maxDuty --
// max duty when both motors are at equal ratio e.g. driving straight forward
// better to be set less than 100% to have some reserve for boosting the outer tire when turning
.maxDutyStraight = 85,
//-- maxBoost --
// boost is amount of duty added to maxDutyStraight to outer tire while turning
// => turning: inner tire gets slower, outer tire gets faster
// 0: boost = 0 (disabled)
// 100: boost = maxDutyStraight (e.g. when maxDuty is 50, outer motor can still reach 100 (50+50))
.maxRelativeBoostPercentOfMaxDuty = 60,
// 60: when maxDuty is set above 62% (equals 0.6*62 = 38% boost) the outer tire can still reach 100% - below 62 maxDuty the boosted speed is also reduced.
// => setting this value lower prevents desired low max duty configuration from being way to fast in curves.
.dutyOffset = 5, // duty at which motors start immediately
.ratioSnapToOneThreshold = 0.9, // threshold ratio snaps to 1 to have some area of max turning before entering X-Axis-full-rotate mode
.altStickMapping = false // invert reverse direction
};

12
board_single/main/control.cpp
View File

@@ -570,11 +570,11 @@ void controlledArmchair::loadMaxDuty(void)
switch (err)
{
case ESP_OK:
ESP_LOGW(TAG, "Successfully read value '%s' from nvs. Overriding default value %.2f with %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDuty, valueRead/100.0);
joystickGenerateCommands_config.maxDuty = (float)(valueRead/100.0);
ESP_LOGW(TAG, "Successfully read value '%s' from nvs. Overriding default value %.2f with %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDutyStraight, valueRead/100.0);
joystickGenerateCommands_config.maxDutyStraight = (float)(valueRead/100.0);
break;
case ESP_ERR_NVS_NOT_FOUND:
ESP_LOGW(TAG, "nvs: the value '%s' is not initialized yet, keeping default value %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDuty);
ESP_LOGW(TAG, "nvs: the value '%s' is not initialized yet, keeping default value %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDutyStraight);
break;
default:
ESP_LOGE(TAG, "Error (%s) reading nvs!", esp_err_to_name(err));
@@ -589,12 +589,12 @@ void controlledArmchair::loadMaxDuty(void)
// note: duty percentage gets stored as uint with factor 100 (to get more precision)
void controlledArmchair::writeMaxDuty(float newValue){
// check if unchanged
if(joystickGenerateCommands_config.maxDuty == newValue){
if(joystickGenerateCommands_config.maxDutyStraight == newValue){
ESP_LOGW(TAG, "value unchanged at %.2f, not writing to nvs", newValue);
return;
}
// update nvs value
ESP_LOGW(TAG, "updating nvs value '%s' from %.2f to %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDuty, newValue) ;
ESP_LOGW(TAG, "updating nvs value '%s' from %.2f to %.2f", "c-maxDuty", joystickGenerateCommands_config.maxDutyStraight, newValue) ;
esp_err_t err = nvs_set_u16(*nvsHandle, "c-maxDuty", (uint16_t)(newValue*100));
if (err != ESP_OK)
ESP_LOGE(TAG, "nvs: failed writing");
@@ -604,5 +604,5 @@ void controlledArmchair::writeMaxDuty(float newValue){
else
ESP_LOGI(TAG, "nvs: successfully committed updates");
// update variable
joystickGenerateCommands_config.maxDuty = newValue;
joystickGenerateCommands_config.maxDutyStraight = newValue;
}

5
board_single/main/control.hpp
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@@ -94,7 +94,10 @@ class controlledArmchair {
// configure max dutycycle (in joystick or http mode)
void setMaxDuty(float maxDutyNew) { writeMaxDuty(maxDutyNew); };
float getMaxDuty() const {return joystickGenerateCommands_config.maxDuty; };
float getMaxDuty() const {return joystickGenerateCommands_config.maxDutyStraight; };
// configure max boost (in joystick or http mode)
void setMaxRelativeBoostPer(float newValue) { joystickGenerateCommands_config.maxRelativeBoostPercentOfMaxDuty = newValue; };
float getMaxRelativeBoostPer() const {return joystickGenerateCommands_config.maxRelativeBoostPercentOfMaxDuty; };
uint32_t getInactivityDurationMs() {return esp_log_timestamp() - timestamp_lastActivity;};

32
board_single/main/menu.cpp
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@@ -276,6 +276,34 @@ menuItem_t item_maxDuty = {
};
//##################################
//##### set max relative boost #####
//##################################
void maxRelativeBoost_action(display_task_parameters_t * objects, SSD1306_t * display, int value)
{
objects->control->setMaxRelativeBoostPer(value);
}
int maxRelativeBoost_currentValue(display_task_parameters_t * objects)
{
return (int)objects->control->getMaxRelativeBoostPer();
}
menuItem_t item_maxRelativeBoost = {
maxRelativeBoost_action, // function action
maxRelativeBoost_currentValue, // function get initial value or NULL(show in line 2)
NULL, // function get default value or NULL(dont set value, show msg)
0, // valueMin
150, // valueMax
1, // valueIncrement
"Set max Boost ", // title
"Set max Boost % ", // line1 (above value)
"for outer tire ", // line2 (above value)
"", // line4 * (below value)
"", // line5 *
" % of max duty ", // line6
"added on turning", // line7
};
//######################
//##### accelLimit #####
//######################
@@ -550,8 +578,8 @@ 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_maxDuty, item_accelLimit, item_decelLimit, item_motorControlMode, item_tractionControlSystem, item_reset, item_example, item_last};
const int itemCount = 10;
const menuItem_t menuItems[] = {item_centerJoystick, item_calibrateJoystick, item_debugJoystick, item_statusScreen, item_maxDuty, item_maxRelativeBoost, item_accelLimit, item_decelLimit, item_motorControlMode, item_tractionControlSystem, item_reset, item_example, item_last};
const int itemCount = 11;