working dipper boom, pivot

RC excavator/FW/src/controller.cpp

@@ -4,7 +4,7 @@ XboxSeriesXControllerESP32_asukiaaa::Core xboxController; //"40:8e:2c:41:e4:eb")
 uint32_t lastcontrollernotify = 0;
 
 uint16_t joymax = 0;
-#define deadband 7000
+#define deadband 10000
 
 direction getdirection(int setpoint)
 {
@@ -51,16 +51,19 @@ void loop_controller()
         {
           log_i("joyLHori rate: %u", xboxController.xboxNotif.joyLHori);
           log_i("joyLVert rate: %u", xboxController.xboxNotif.joyLVert);
-          log_i("joyRHori rate: %0.0f", ((float)xboxController.xboxNotif.joyRHori / joymax *100));
-          log_i("joyRVert rate: %0.0f",((float)xboxController.xboxNotif.joyRVert / joymax *100));
+          log_i("joyRHori rate: %u", xboxController.xboxNotif.joyRHori);
+          log_i("joyRVert rate: %u", xboxController.xboxNotif.joyRVert);
           log_i("battery %d %", xboxController.battery);
           log_i("joymax:%d",joymax );
           lastcontrollernotify = millis();
         }
-        controlMotor("Boom", getdirection(xboxController.xboxNotif.joyLHori));
-        controlMotor("Pivot", getdirection(xboxController.xboxNotif.joyLVert));
+        controlMotor("Pivot", getdirection(xboxController.xboxNotif.joyLHori));
+        controlMotor("Dipper", getdirection(xboxController.xboxNotif.joyLVert));
+
         controlMotor("Bucket", getdirection(xboxController.xboxNotif.joyRHori));
-        controlMotor("Dipper", getdirection(xboxController.xboxNotif.joyRVert));
+        controlMotor("Boom", getdirection(xboxController.xboxNotif.joyRVert));
+
+        //controlMotor("TrackLeft", getdirection(xboxController.xboxNotif.trigLT)
 
       }
     }

RC excavator/FW/src/motors.cpp

@@ -26,6 +26,7 @@ std::vector<motor> motors;
 
 void setup_motors()
 {
+  mcp.begin_I2C();
   for (int i = 0; i < NUMMOTORS; i++)
   {
     motor newmotor(initlist[i]);
@@ -110,82 +111,3 @@ void motor::run(direction 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);
-// }