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tweak control algo

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This commit is contained in:
mitchellhansen
2020-10-02 11:36:33 -07:00
parent 90b9831079
commit c2fbf18814
2 changed files with 50 additions and 85 deletions
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119
dozer_main.cpp
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@@ -45,16 +45,9 @@ struct StickValues {
#define L_TRK_FWD 17
#define R_TRK_BKW 19
#define L_TRK_BKW 16
#define BKT_FWD 14
#define BKT_BKW 15
#define BKT_FWD 15
#define BKT_BKW 14
#define PI 3.141592654
#define DEG(rad) (rad*180.0/PI)
#define FULL_SPEED_ZONE 5
#define MAGIC_45_2_100 2.22222
#define MAG_SCALER_H 200
#define MAG_SCALER_L 290
int main() {
init();
@@ -67,6 +60,13 @@ int main() {
SoftPWMBegin();
SoftPWMSet(R_TRK_FWD, 0); // bucket
SoftPWMSet(L_TRK_FWD, 0); // bucket
SoftPWMSet(R_TRK_BKW, 0); // left track backward
SoftPWMSet(L_TRK_BKW, 0); // left track forward
SoftPWMSet(BKT_FWD , 0); // right track backward
SoftPWMSet(BKT_BKW , 0); // right track forward
RF24 radio(CE_PIN, CS_PIN);
radio.begin();
radio.setPALevel (RF24_PA_MAX);
@@ -116,10 +116,10 @@ int main() {
radio.flush_rx();
if (stick_values.stick_1_y > 10) {
if (stick_values.stick_2_y > 10) {
digitalWrite(GREEN, HIGH);
digitalWrite(RED, LOW);
} else if (stick_values.stick_1_y < -10) {
} else if (stick_values.stick_2_y < -10) {
digitalWrite(RED, HIGH);
digitalWrite(GREEN, LOW);
} else {
@@ -175,45 +175,32 @@ int main() {
left_track = ((270 + 45) - ang) * MAGIC_45_2_100 * (mag/MAG_SCALER_H);
}
// if (ang >= 0 && ang < 90 && mag > 1) {
// if (ang < 0 + FULL_SPEED_ZONE)
// right_track = left_track = -100;
//// else if (ang > 90 - FULL_SPEED_ZONE)
//// right_track = left_track = -100;
// else
// right_track = ((270 + 45) - ang) * 2 * (mag/290);
//
// left_track = -100 * (int)(mag/290);
// }
// if (ang >= 90 && ang < 180 && mag > 1) {
// right_track = 100 * (mag/290);
// if (ang > 90 - FULL_SPEED_ZONE) {
// right_track = 100;
// left_track = -100;
// }
// else
// left_track = (135 - ang) * -2 * (mag/290);
// }
// if (ang >= 180 && ang < 270 && mag > 1) {
// if (ang > 180 - FULL_SPEED_ZONE)
// right_track = 100 * (mag/290);
// else
// right_track = ((180 + 45) - ang) * 2 * (mag/290);
// left_track = 100 * (mag/290);
// }
// if (ang >= 270 && ang <= 360 && mag > 1) {
// right_track = -100 * (mag/290);
// if (ang > 270 - FULL_SPEED_ZONE) {
// left_track = -100 * (mag/290);
// } else {
// left_track = ((270 + 45) - ang) * 2 * (mag/290);
// }
// }
if (stick_values.stick_2_y > 5) {
SoftPWMSet(BKT_FWD, 255);
SoftPWMSet(BKT_BKW, 0);
//SoftPWMSet(BKT_FWD, max(0, min(255, abs(stick_values.stick_2_y))));
//SoftPWMSet(R_TRK_BKW, max(0, min(255, abs(stick_values.stick_2_y))));
// SoftPWMSet(BKT_BKW, 0);
} else if (stick_values.stick_2_y < -5) {
SoftPWMSet(BKT_BKW, 255);
SoftPWMSet(BKT_FWD, 0);
//SoftPWMSet(BKT_BKW, max(0, min(255, abs(stick_values.stick_2_y))));
//SoftPWMSet(R_TRK_FWD, max(0, min(255, abs(stick_values.stick_2_y))));
//SoftPWMSet(BKT_, 1);
} else {
SoftPWMSet(BKT_BKW, 0);
SoftPWMSet(BKT_FWD, 0);
}
left_track = left_track * 3;
right_track = right_track * 3;
if (left_track > 0) {
SoftPWMSet(L_TRK_FWD, max(0, min(255, left_track)));
SoftPWMSet(L_TRK_BKW, 0);
} else if (left_track < 0) {
SoftPWMSet(L_TRK_BKW, max(0, min(255, abs(left_track))));
SoftPWMSet(L_TRK_FWD, 0);
} else if (left_track == 0) {
SoftPWMSet(L_TRK_BKW, 0);
SoftPWMSet(L_TRK_FWD, 0);
@@ -221,53 +208,17 @@ int main() {
if (right_track > 0) {
SoftPWMSet(R_TRK_FWD, max(0, min(255, right_track)));
SoftPWMSet(R_TRK_BKW, 0);
} else if (right_track < 0) {
SoftPWMSet(R_TRK_BKW, max(0, min(255, abs(right_track))));
SoftPWMSet(R_TRK_FWD, 0);
} else if (right_track == 0) {
SoftPWMSet(R_TRK_FWD, 0);
SoftPWMSet(R_TRK_BKW, 0);
}
// int forward_delta = 0;
// if (stick_values.stick_1_x > 10) {
// forward_delta = min(max(0, stick_values.stick_1_x), 255);
//
// } else if (stick_values.stick_1_x < -10) {
// forward_delta = min(max(-255, stick_values.stick_1_x), 0);
// }
//
// if (stick_values.stick_1_y > 10) {
// int delta = min(max(0, stick_values.stick_1_y), 255);
// if (forward_delta > 0) {
// SoftPWMSet(R_TRK_FWD, delta + forward_delta);
// } else if (forward_delta <= 0) {
// SoftPWMSet(R_TRK_BKW, delta + forward_delta);
// }
// SoftPWMSet(L_TRK_FWD, delta);
// } else if (stick_values.stick_1_y < -10) {
// int delta = min(max(0, abs(stick_values.stick_1_y)), 255);
// if (forward_delta > 0) {
// SoftPWMSet(L_TRK_FWD, delta + forward_delta);
// } else if (forward_delta <= 0) {
// SoftPWMSet(L_TRK_BKW, delta + forward_delta);
// }
// SoftPWMSet(R_TRK_FWD, delta);
// } else {
//
// if (forward_delta > 10) {
// SoftPWMSet(L_TRK_FWD, forward_delta);
// SoftPWMSet(R_TRK_FWD, forward_delta);
// } else if (forward_delta < 10) {
// SoftPWMSet(L_TRK_BKW, forward_delta);
// SoftPWMSet(R_TRK_BKW, forward_delta);
// } else {
// SoftPWMSet(R_TRK_FWD, 0);
// SoftPWMSet(R_TRK_BKW, 0);
// SoftPWMSet(L_TRK_BKW, 0);
// SoftPWMSet(L_TRK_FWD, 0);
// }
// }
if (serialEventRun) serialEventRun();