Briefly tested this - brake works as intended
- Add config options brakeDecel and brakePauseBefureResume
- control: update brakeStartThresholdDuty at startup
and maxDuty change for each motor
- motorctl: drop/simplify decel boost to brake
(faster deceleration at certain threshold)
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
very experimental needs testing/debugging,
other control modes can currently be selected by editing the class definition in motorctl.hpp
menu/config
- add menu item to enable/disable traction control system
main: pass ptr to other motor to motor object
speedsensor: add method to get last update time
motorctl: handle loop:
- re-arrange some code sections
- add several methods to get current status (needed from other motor for tcs)
- add sketchy code for different control modes DUTY, CURRENT, SPEED (very basic implementation)
- add experimental code for traction control
Major changes in motorctl and control to optimize performance
by freeing unnecessary cpu usage by motorctl task
Needs testing on actual hardware!
motorctl:
- slow down handle loop when duty is at target (wait for new command)
- create separate task for each motor
- setTarget method also accepts motorCommand directly now
control.cpp:
- redurce stress on motorctl by removing unnecessary commands
- set motors to idle at mode change only, instead of every iteration (IDLE, MENU, ADJUST)
- HTTP, JOYSTICK: only update motors when stick data actually changed
- simplify code
- add method for idling both motors
- use motorcommands directly in setTarget()
http:cpp:
- dont block control task with getData() method
- handle timeout independent of one queue event
- prevents unresponsive system for http-timeout when changing mode from HTTP
Changes in menu for accel/decel time are now persistent after
restarts
main: initialize nvs and pass pointer to motorctl task
motorctl:
- add method to get default configured value
- add name to config -> adjust logging
- add methods to read and write msFadeAccel and msFadeDecel from nvs
While testing the new commits on actual hardware noticed
the motors always beeing on at full power.
-> This was due to uninitialized value. It had to fade down from
duty 81236182734612738 which takes forever.
-> This also fixes the old issue where left motor jumped for a
second after startup
Also tested JOYSTICK, HTTP, ADJUST_CHAIR modes and encoder+menu
- All files:
Modify almost all files to adjust functions and classes to
work with pointers to objects passed at task creation
instead of global variables from config.hpp
- Remove/clear config.hpp to get rid of all global variables
- main.cpp
- Create pointer to all shared (used in multiple tasks) objects in main
- remove evaluatedSwitch button object,
since joystick library is used to get switch events
- changes HTTP-mode
- always init http-server (do not enable/disable at mode change)
- pass url-handle function to init-htpp function
- add lambda function to pass method of instance for thatMajor Rework all files - Remove global variables, pass pointers to tasks
- All files:
Modify almost all files to adjust functions and classes to
work with pointers to objects passed at task creation
instead of global variables from config.hpp
- Remove/clear config.hpp to get rid of all global variables
- main.cpp
- Create pointer to all shared (used in multiple tasks) objects in main
- remove evaluatedSwitch button object,
since joystick library is used to get switch events
- changes HTTP-mode
- always init http-server (do not enable/disable at mode change)
- pass url-handle function to init-htpp function
- add lambda function to pass method of instance for that
NOTES: - tested on breakoutboard only
- known issue that slow encoder events are not recognized
(especially in menu) - slowing down motorctl helps
Currently testing with breakoutboard and larger
1.3'' display (OFFSETX needed)
- display.cpp:
- change structure (outsource in page functions)
- add git and compile info to startup screen
- add armchair mode and motor current to status screen
- control.hpp: Add methods to get current armchair control mode (string)
- motorctl.hpp: Add method to get motor current
- make motorctl compatible with different drivers
- pass set function instead of specific motor object
- add lambda function in config.cpp
- update config to use one new sabertooth driver instead of two single100a
- main test controlled motor
since board_single uses mostly the same code as board_control and
board_motorctl several files are outsorced to common folder to prevent
dupliate code and different versions
