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Add 'decel-boost' when reversing joystick (motorctl)

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when moving the joystick in opposite direction the
deceleration gets boosted depending on how large
the opposite target duty is up to a maximum

Needs testing, switching between ROTATE mode might
cause issues
This commit is contained in:
jonny 2024-05-12 16:52:44 +02:00
parent e5fad27899
commit fa114e4138
1 changed files with 20 additions and 4 deletions
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24
common/motorctl.cpp
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@ -329,12 +329,28 @@ if ( dutyNow != 0 && esp_log_timestamp() - timestamp_commandReceived > TIMEOUT_I
else //no accel limit (immediately set to 100)
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%
//calculate increment for fading DOWN with passed time since last run and configured fade time
if (msFadeDecel > 0)
dutyIncrementDecel = ( usPassed / ((float)msFadeDecel * 1000) ) * 100;
else //no decel limit (immediately reduce to 0)
if (msFadeDecel == 0) //no decel limit (immediately reduce to 0)
dutyIncrementDecel = 100;
//--- dynamic fading ---
//detect when quicker brake response is desired (e.g. full speed forward, joystick suddenly is full reverse -> break fast)
else if (commandReceive.state != state && fabs(dutyTarget) > DECEL_BOOST_START_THRESHOLD)
{
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;
//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);
}
else
// normal deceleration according to configured time
dutyIncrementDecel = (usPassed / ((float)msFadeDecel * 1000)) * 100;
//fade duty to target (up and down)
//TODO: this needs optimization (can be more clear and/or simpler)
if (dutyDelta > 0) { //difference positive -> increasing duty (-100 -> 100)