Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Add pedestrian mode #459

Open
wants to merge 1 commit into
base: main
Choose a base branch
from
Open

Add pedestrian mode #459

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
20 changes: 16 additions & 4 deletions Src/util.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -51,6 +51,8 @@ extern uint8_t buzzerCount; // global variable for the buzzer counts
extern uint8_t buzzerFreq; // global variable for the buzzer pitch. can be 1, 2, 3, 4, 5, 6, 7...
extern uint8_t buzzerPattern; // global variable for the buzzer pattern. can be 1, 2, 3, 4, 5, 6, 7...

uint8_t congressMode = 0;

extern uint8_t enable; // global variable for motor enable

extern uint8_t nunchuk_data[6];
Expand Down Expand Up @@ -873,6 +875,13 @@ void readInputRaw(void) {
for (uint8_t i = 0; i < (IBUS_NUM_CHANNELS * 2); i+=2) {
ibusR_captured_value[(i/2)] = CLAMP(commandR.channels[i] + (commandR.channels[i+1] << 8) - 1000, 0, INPUT_MAX); // 1000-2000 -> 0-1000
}
// Enable pedestrian mode
if(ibusR_captured_value[6] == 1000) {
congressMode = 1;
} else {
congressMode = 0;
}

input1[inIdx].raw = (ibusR_captured_value[0] - 500) * 2;
input2[inIdx].raw = (ibusR_captured_value[1] - 500) * 2;
#else
Expand Down Expand Up @@ -1687,10 +1696,13 @@ void mixerFcn(int16_t rtu_speed, int16_t rtu_steer, int16_t *rty_speedR, int16_t
int16_t prodSpeed;
int16_t prodSteer;
int32_t tmp;

prodSpeed = (int16_t)((rtu_speed * (int16_t)SPEED_COEFFICIENT) >> 14);
prodSteer = (int16_t)((rtu_steer * (int16_t)STEER_COEFFICIENT) >> 14);

if (congressMode == 0) {
prodSpeed = (int16_t)((rtu_speed * (int16_t)SPEED_COEFFICIENT) >> 14);
prodSteer = (int16_t)((rtu_steer * (int16_t)STEER_COEFFICIENT) >> 14);
} else {
prodSpeed = (int16_t)((rtu_speed * (int16_t)(SPEED_COEFFICIENT / 2)) >> 14);
prodSteer = (int16_t)((rtu_steer * (int16_t)(STEER_COEFFICIENT / 2)) >> 14);
}
tmp = prodSpeed - prodSteer;
tmp = CLAMP(tmp, -32768, 32767); // Overflow protection
*rty_speedR = (int16_t)(tmp >> 4); // Convert from fixed-point to int
Expand Down