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Adjust config: more fade, stick tolerance, less startDuty

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turned out that higher voltage of new battery results in way more
responsive motors.
Adjust this with available settings (less shaking)
This commit is contained in:
jonny_l480 2023-08-15 23:14:44 +02:00
parent be40a8c2d3
commit e017932db7
2 changed files with 6 additions and 6 deletions
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10
main/config.cpp
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@ -31,8 +31,8 @@ single100a_config_t configDriverRight = {
//--- configure motor contol ---
motorctl_config_t configMotorControl = {
.msFadeAccel = 1300, //acceleration of the motor (ms it takes from 0% to 100%)
.msFadeDecel = 700, //deceleration of the motor (ms it takes from 100% to 0%)
.msFadeAccel = 2400, //acceleration of the motor (ms it takes from 0% to 100%)
.msFadeDecel = 1000, //deceleration of the motor (ms it takes from 100% to 0%)
.currentMax = 10
};
@ -75,10 +75,10 @@ joystick_config_t configJoystick = {
.adc_x = ADC1_CHANNEL_3, //GPIO39
.adc_y = ADC1_CHANNEL_0, //GPIO36
//percentage of joystick range the coordinate of the axis snaps to 0 (0-100)
.tolerance_zeroX_per = 5,
.tolerance_zeroY_per = 8,
.tolerance_zeroX_per = 6,
.tolerance_zeroY_per = 7,
//percentage of joystick range the coordinate snaps to -1 or 1 before configured "_max" or "_min" threshold (mechanical end) is reached (0-100)
.tolerance_end_per = 6,
.tolerance_end_per = 4,
//threshold the radius jumps to 1 before the stick is at max radius (range 0-1)
.tolerance_radius = 0.05,

2
main/joystick.cpp
View File

@ -302,7 +302,7 @@ 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 dutyOffset = 10; //immediately starts with this duty, TODO add this to config
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