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working dipper boom, pivot

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This commit is contained in:
willem
2024-07-04 21:48:25 +02:00
parent a0f5fc0a07
commit e167ef6f5b
2 changed files with 11 additions and 86 deletions
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15
RC excavator/FW/src/controller.cpp
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@@ -4,7 +4,7 @@ XboxSeriesXControllerESP32_asukiaaa::Core xboxController; //"40:8e:2c:41:e4:eb")
uint32_t lastcontrollernotify = 0; uint32_t lastcontrollernotify = 0;
uint16_t joymax = 0; uint16_t joymax = 0;
#define deadband 7000 #define deadband 10000
direction getdirection(int setpoint) direction getdirection(int setpoint)
{ {
@@ -51,16 +51,19 @@ void loop_controller()
{ {
log_i("joyLHori rate: %u", xboxController.xboxNotif.joyLHori); log_i("joyLHori rate: %u", xboxController.xboxNotif.joyLHori);
log_i("joyLVert rate: %u", xboxController.xboxNotif.joyLVert); log_i("joyLVert rate: %u", xboxController.xboxNotif.joyLVert);
log_i("joyRHori rate: %0.0f", ((float)xboxController.xboxNotif.joyRHori / joymax *100)); log_i("joyRHori rate: %u", xboxController.xboxNotif.joyRHori);
log_i("joyRVert rate: %0.0f",((float)xboxController.xboxNotif.joyRVert / joymax *100)); log_i("joyRVert rate: %u", xboxController.xboxNotif.joyRVert);
log_i("battery %d %", xboxController.battery); log_i("battery %d %", xboxController.battery);
log_i("joymax:%d",joymax ); log_i("joymax:%d",joymax );
lastcontrollernotify = millis(); lastcontrollernotify = millis();
} }
controlMotor("Boom", getdirection(xboxController.xboxNotif.joyLHori)); controlMotor("Pivot", getdirection(xboxController.xboxNotif.joyLHori));
controlMotor("Pivot", getdirection(xboxController.xboxNotif.joyLVert)); controlMotor("Dipper", getdirection(xboxController.xboxNotif.joyLVert));
controlMotor("Bucket", getdirection(xboxController.xboxNotif.joyRHori)); controlMotor("Bucket", getdirection(xboxController.xboxNotif.joyRHori));
controlMotor("Dipper", getdirection(xboxController.xboxNotif.joyRVert)); controlMotor("Boom", getdirection(xboxController.xboxNotif.joyRVert));
//controlMotor("TrackLeft", getdirection(xboxController.xboxNotif.trigLT)
} }
} }

80
RC excavator/FW/src/motors.cpp
View File

@@ -26,6 +26,7 @@ std::vector<motor> motors;
void setup_motors() void setup_motors()
{ {
mcp.begin_I2C();
for (int i = 0; i < NUMMOTORS; i++) for (int i = 0; i < NUMMOTORS; i++)
{ {
motor newmotor(initlist[i]); motor newmotor(initlist[i]);
@@ -110,82 +111,3 @@ void motor::run(direction dir)
} }
current = dir; current = dir;
} }
//uint32_t lastmotorlog = 0;
// void drivemotor(uint8_t num, int dirspeed)
// {
// if (num <= motorPins.size())
// {
// if(dirspeed > 46 && dirspeed < 55) //deadband
// {
// motors[num].stop();
// log_v("stop");
// return;
// }
// else
// {
// uint8_t mapspeed = map(dirspeed, 0, 100, 100, -100);
// motors[num].move(mapspeed);
// motors[num].prevsetpoint = mapspeed;
// if (millis() - lastmotorlog > MOTORLOGTIME)
// {
// log_i("drive motor %u, speed %d%(%d)", num, dirspeed, mapspeed);
// lastmotorlog = millis();
// }
// }
// }
// else
// {
// log_e("invalid motor num %d", num);
// }
// }
// int prevBucketAngle = 0;
// uint32_t lastbuckettimer = 0;
// void bucketTilt(int bucketServoValue)
// {
// if(millis()- lastbuckettimer > BUCKETTIMER)
// {
// log_v("bucket command received = %i", bucketServoValue);
// int servo = 0;
// if(bucketServoValue == 0)
// {
// log_v("bucket stop");
// return;
// }
// else if(bucketServoValue > 0)
// {
// servo = prevBucketAngle + SERVOSTEP;
// }
// else
// {
// servo = prevBucketAngle - SERVOSTEP;
// }
// if(servo > SERVOMAX) servo = SERVOMAX;
// if(servo < SERVOMIN) servo = SERVOMIN;
// bucketServo.write(servo);
// log_v("bucket (%i) angle=(%d)", bucketServoValue, servo);
// lastbuckettimer = millis();
// prevBucketAngle = servo;
// }
// }
// void AbsBucketTilt(int bucketServoValue)
// {
// log_v("drive bucket servo, angle %d", bucketServoValue);
// delay(5);
// bucketServo.write(bucketServoValue);
// }
// void auxControl(int auxServoValue)
// {
// log_v("drive aux servo, angle %d", auxServoValue);
// delay(5);
// auxServo.write(auxServoValue);
// }