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Firmware release for TranspOtterNG. Compatible for older TranspOtters

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jblb
Niklas Fauth 7 years ago
parent c6e5cf5baf
commit 95dc4938cf
2 changed files with 25 additions and 77 deletions
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72
Inc/config.h
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@ -18,12 +18,12 @@
#define BAT_CALIB_REAL_VOLTAGE 43.0 // input voltage measured by multimeter
#define BAT_CALIB_ADC 1704 // adc-value measured by mainboard (value nr 5 on UART debug output)
#define BAT_NUMBER_OF_CELLS 9 // normal Hoverboard battery: 10s
#define BAT_NUMBER_OF_CELLS 10 // normal Hoverboard battery: 10s
#define BAT_LOW_LVL1_ENABLE 0 // to beep or not to beep, 1 or 0
#define BAT_LOW_LVL1 3.2 // gently beeps at this voltage level. [V/cell]
#define BAT_LOW_LVL1 3.5 // gently beeps at this voltage level. [V/cell]
#define BAT_LOW_LVL2_ENABLE 1 // to beep or not to beep, 1 or 0
#define BAT_LOW_LVL2 3.0 // your battery is almost empty. Charge now! [V/cell]
#define BAT_LOW_DEAD 2.6 // undervoltage poweroff. (while not driving) [V/cell]
#define BAT_LOW_LVL2 3.3 // your battery is almost empty. Charge now! [V/cell]
#define BAT_LOW_DEAD 3.2 // undervoltage poweroff. (while not driving) [V/cell]
#define DC_CUR_LIMIT 15 // DC current limit in amps per motor. so 15 means it will draw 30A out of your battery. it does not disable motors, it is a soft current limit.
@ -76,70 +76,18 @@
#define SUPPORT_NUNCHUCK
//#define SUPPORT_REMOTE
#define VEL_P 0.9
#define ROT_P -1.2
#define ROT_P -1.2 // P coefficient for the direction controller. Positive / Negative values to invert gametrak steering direction.
#define FILTER 0.1 // lower value == softer filter. do not use values <0.01, you will get float precision issues.
#define INVERT_R_DIRECTION // Invert right motor
#define INVERT_L_DIRECTION // Invert left motor
// ###### CONTROL VIA NINTENDO NUNCHUCK ######
// left sensor board cable. keep cable short, use shielded cable, use ferrits, stabalize voltage in nunchuck, use the right one of the 2 types of nunchucks, add i2c pullups. use original nunchuck. most clones does not work very well.
//#define CONTROL_NUNCHUCK // use nunchuck as input. disable DEBUG_SERIAL_USART3!
// ############################### DRIVING BEHAVIOR ###############################
// inputs:
// - cmd1 and cmd2: analog normalized input values. -1000 to 1000
// - button1 and button2: digital input values. 0 or 1
// - adc_buffer.l_tx2 and adc_buffer.l_rx2: unfiltered ADC values (you do not need them). 0 to 4095
// outputs:
// - speedR and speedL: normal driving -1000 to 1000
// - weakr and weakl: field weakening for extra boost at high speed (speedR > 700 and speedL > 700). 0 to ~400
#define FILTER 0.1 // lower value == softer filter. do not use values <0.01, you will get float precision issues.
// during nunchuck control (only relevant when activated)
#define SPEED_COEFFICIENT 0.9 // higher value == stronger. 0.0 to ~2.0?
#define STEER_COEFFICIENT 0.5 // higher value == stronger. if you do not want any steering, set it to 0.0; 0.0 to 1.0
#define INVERT_R_DIRECTION
#define INVERT_L_DIRECTION
#define BEEPS_BACKWARD 1 // 0 or 1
//Turbo boost at high speeds while button1 is pressed:
//#define ADDITIONAL_CODE \
if (button1 && speedR > 700) { /* field weakening at high speeds */ \
weakl = cmd1 - 700; /* weak should never exceed 400 or 450 MAX!! */ \
weakr = cmd1 - 700; } \
else { \
weakl = 0; \
weakr = 0; }
// ###### SIMPLE BOBBYCAR ######
// for better bobbycar code see: https://github.com/larsmm/hoverboard-firmware-hack-bbcar
// #define FILTER 0.1
// #define SPEED_COEFFICIENT -1
// #define STEER_COEFFICIENT 0
// #define ADDITIONAL_CODE \
if (button1 && speedR < 300) { /* drive backwards */ \
speedR = speedR * -0.2f; \
speedL = speedL * -0.2f; } \
else { \
direction = 1; } \
if (button1 && speedR > 700) { /* field weakening at high speeds */ \
weakl = speedR - 600; /* weak should never exceed 400 or 450 MAX!! */ \
weakr = speedR - 600; } \
else { \
weakl = 0; \
weakr = 0; }
// ###### ARMCHAIR ######
// #define FILTER 0.05
// #define SPEED_COEFFICIENT 0.5
// #define STEER_COEFFICIENT -0.2
// #define ADDITIONAL_CODE if (button1 && scale > 0.8) { /* field weakening at high speeds */ \
weakl = speedL - 600; /* weak should never exceed 400 or 450 MAX!! */ \
weakr = speedR - 600; } \
else {\
weakl = 0;\
weakr = 0;
// ############################### VALIDATE SETTINGS ###############################

30
build/hover.hex
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@ -1192,20 +1192,20 @@
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@ -1511,7 +1511,7 @@
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