monster/baby_car_esc_controller
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

last changes

Browse Source
This commit is contained in:
kislovdm
2024-08-21 19:57:25 +03:00
parent 74567c26a6
commit b380c6412c
1 changed files with 16 additions and 17 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/main.cpp
+16 -17
View File
@@ -5,7 +5,7 @@
#define LED_PIN 13 // Дефолтный светодиод для индикации работы
#define DEBUG 1
#define DEBUG 0
#define ESC_PIN 9 // Пин подключения ESC
#define RECEIVER_ESC_PIN 5 // Пин подключения приёмника
#define PEDAL_PIN 6 // Пин, куда подключена педаль машины
@@ -13,9 +13,9 @@
#define ESC_NEUTRAL_POSITION 1500
#define ESC_NEUTRAL_POSITION_THRESHOLD 40
#define PEDAL_MAX_THROTTLE 1800
#define PEDAL_MAX_THROTTLE 1700
#define ACCELERATION_SPEED 100
#define PEDAL_SHIFT_FROM_NEUTRAL 30
#define PEDAL_SHIFT_FROM_NEUTRAL 50
GyverOS<5> OS; // указать макс. количество задач
Servo esc; // servo name
@@ -25,11 +25,11 @@ int pedal_state = 0;
// обработчики задач
void replicate_receiver_for_esc() {
// выводит свой период в порт
if (DEBUG){
static uint32_t ms;
Serial.println(millis() - ms);
ms = millis();
}
// if (DEBUG){
// static uint32_t ms;
// Serial.println(millis() - ms);
// ms = millis();
// }
int current_receiver_esc_value = pulseIn(RECEIVER_ESC_PIN, HIGH, 25000);
if (current_receiver_esc_value == 0)
{
@@ -54,7 +54,7 @@ void replicate_receiver_for_esc() {
int rotate_value = analogRead(MAX_SPEED_POTENTIOMETER_PIN);
int max_speed_ms = map(rotate_value, 0, 1023, ESC_NEUTRAL_POSITION, PEDAL_MAX_THROTTLE);
int pedal_esc_state = PEDAL_SHIFT_FROM_NEUTRAL +map(pedal_state, 0, ACCELERATION_SPEED, ESC_NEUTRAL_POSITION, max_speed_ms);
int pedal_esc_state = PEDAL_SHIFT_FROM_NEUTRAL + map(pedal_state, 0, ACCELERATION_SPEED, ESC_NEUTRAL_POSITION, max_speed_ms);
if (DEBUG){
Serial.print("Pedal is pressed; state: ");
@@ -77,7 +77,6 @@ void replicate_receiver_for_esc() {
Serial.print("Receiver ESC channel 2:"); // Print the value of
Serial.println(current_receiver_esc_value); // each channel
}
esc.writeMicroseconds(current_receiver_esc_value);
}
}
@@ -86,13 +85,6 @@ void setup() {
Serial.begin(9600);
pinMode(LED_PIN, OUTPUT);
// подключаем задачи (порядковый номер, имя функции, период в мс)
OS.attach(0, replicate_receiver_for_esc, 40);
//attach esc
esc.attach(ESC_PIN);
esc.writeMicroseconds(ESC_NEUTRAL_POSITION); // Turn the motor from the android app
//attach receiver
pinMode(RECEIVER_ESC_PIN, INPUT); // Set our input pins as such
@@ -103,6 +95,13 @@ void setup() {
//attach max speed potentiometer
pinMode(MAX_SPEED_POTENTIOMETER_PIN, INPUT);
//attach esc
esc.attach(ESC_PIN);
esc.writeMicroseconds(ESC_NEUTRAL_POSITION); // Turn the motor from the android app
// подключаем задачи (порядковый номер, имя функции, период в мс)
OS.attach(0, replicate_receiver_for_esc, 40);
}
void loop() {