Klagarge/SummerSchool2-Controller
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add ramp

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This commit is contained in:
Rémi Heredero
2023-09-05 20:02:33 +02:00
parent 0329c762a0
commit 44d4d1210c
3 changed files with 39 additions and 3 deletions
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27
306-controller_interface.X/app/kartculator.c
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@@ -11,9 +11,21 @@ void deadJoystick(void* p){
eKart.torque = 0;
eKart.position = eKart.center;
}
void calcTorque(uint8_t joy_pos) {
int32_t calcTorque;
calcTorque = (int8_t) joy_pos; // joystick position
static int8_t lastPos = 0;
int8_t diff = ((int8_t)joy_pos) - lastPos;
if (diff > KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE) {
calcTorque = lastPos + KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE;
} else if (diff < -KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE) {
calcTorque = lastPos - KART_CST.CONTROL_PARAM_MAX_CHANGE_DRIVE;
} else {
calcTorque = (int8_t) joy_pos; // joystick position
}
lastPos = calcTorque;
calcTorque *= KART_CST.CONTROL_POWER_FACTOR; // convert by power factor
calcTorque /= 1000; // torque define by joystick
eKart.torque = (int16_t) calcTorque;
@@ -21,7 +33,18 @@ void calcTorque(uint8_t joy_pos) {
void calcPosition(uint8_t joy_pos){
int32_t calcPosition;
calcPosition = (int8_t) joy_pos;
static int8_t lastPos = 0;
int8_t diff = ((int8_t)joy_pos) - lastPos;
if (diff > KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING) {
calcPosition = lastPos + KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING;
} else if (diff < -KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING) {
calcPosition = lastPos - KART_CST.CONTROL_PARAM_MAX_CHANGE_STEERING;
} else {
calcPosition = (int8_t) joy_pos;
}
lastPos = calcPosition;
calcPosition *= (int32_t) KART_CST.CONTROL_STEERING_FACTOR;
calcPosition /= 1000;
calcPosition += eKart.center;