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Simplify track recoil action to a user defined speed and time, with n…
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…o tapering. We can revert to the more intricate action using speed tapering simply by setting SimpleTrackRecoil = false but users found it did not work as well as a direct on/off action.
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@OpenPanzerProject
OpenPanzerProject committed Jan 27, 2020
1 parent afcf9b1 commit 4b714fc
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Showing 2 changed files with 92 additions and 56 deletions.
144 changes: 89 additions & 55 deletions OpenPanzerTCB/src/OP_Driver/OP_Driver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,6 +26,8 @@ uint8_t OP_Driver::DriveType;
// Track recoil
uint8_t OP_Driver::KickbackSpeed;
float OP_Driver::DecelerationFactor;
uint8_t OP_Driver::TrackRecoilDuration;
uint32_t OP_Driver::TrackRecoilStartTime;
// Drive speed ramping
boolean OP_Driver::DriveRampEnabled;
volatile uint16_t OP_Driver::RampedDriveSpeed;
Expand Down Expand Up @@ -109,7 +111,7 @@ void OP_Driver::begin(DRIVETYPE dt, uint8_t tm, boolean nta, uint8_t kbs, uint8_
KickbackSpeed = map(kbs, 0, 100, 0, 255); // Kickback speed is passed as some number between 0-100, we want to scale it to 0-255
DecelerationFactor = 0.65 + (0.0033 * (float)dcf); // dcf will range from 0-100, what we want to end up at (DecelerationFactor) is a floating point number somewhere
// roughly between 0.65 and 0.98. At 0.65 the kickback spike would last approximately 1/2 second (at full speed). At .98 it would last approximately 3.5 seconds.

TrackRecoilDuration = dcf; // We also have a simple track recoil option, which takes the value in deceleration factor and uses it as the literal number of mS for the recoil action to take

// SET INTERRUPT FREQUENCY
// -------------------------------------------------------------------------------------------------------------------------------------------------->
Expand Down Expand Up @@ -297,7 +299,7 @@ boolean neg;
static boolean TrackRecoilStarted = false;
static uint16_t lastRampSpeed;
static uint16_t lastTRSpeed;

boolean SimpleTrackRecoil = true; // In January 2020 we added a different track recoil action, set this to true to use the new action

// First, to avoid repeating a bunch of code for forward & reverse, we convert everything to positive values, then convert them back to signed at the end.
// We save a "neg" flag if the variable is negative, so we know at the end what sign to set it back to.
Expand All @@ -324,59 +326,91 @@ static uint16_t lastTRSpeed;
}
// TRACK RECOIL
// =============================================================================================================================================================>>
else if (DriveMode == TRACK_RECOIL)
{
// Track recoil is an anomaly and we are going to handle things exceptionally in this case.
if (!TrackRecoilStarted)
{
// Just started track recoil movement
// The first thing we do, is set the motor speed to KickbackSpeed. Above we already set the motor direction to reverse by setting the "neg" flag
t_DriveSpeed = DriveCMD = lastTRSpeed = KickbackSpeed;
DriveRampEnabled = true; // Now we will enable ramping although we will not use normally, see below
RampDir = 1; // Ramp goes up
t_DriveSkipNum = 1; // No skipping
t_DriveRampStep = 1; // 1 step at a time (256 steps per second)
RampedDriveSpeed = lastRampSpeed = 1; // Save the start
TrackRecoilStarted = true; // Go
}
else
{
// Typically we use the ramping feature to slowly increase or decrease our actual motor speed (RampedDriveSpeed).
// In this case, we are going to use RampedDriveSpeed essentially as a counter instead. We set step and skip to 1 such that
// RampedDriveSpeed will count to 256 every 1 second. After every 8 steps (1/32nd of a second) we decrement our
// actual speed manually (t_DriveSpeed) by some deceleration factor set by the user but that falls somewhere in the general
// range of 65-98%. In other words, if speed last time was 100 and our factor is 85%, this time speed will be 85%, next
// time around it will be 72%, etc... In this way we exponentially decrease our speed (not linearly), which results in
// a smooth but rapid deceleration from our original kickback speed
if (RampedDriveSpeed >= 1024) { t_DriveSpeed = 0; } // We've waited 4 full seconds, that's more than long enough, we're done
else
{
DriveRampEnabled = true;
RampDir = 1;
t_DriveSkipNum = 1;
t_DriveRampStep = 1;
if ((RampedDriveSpeed - lastRampSpeed) >= 8) // Every 1/32nd of a second we decrement speed
{
t_DriveSpeed = (int16_t)(((float)lastTRSpeed * DecelerationFactor) + 0.5); // Decrease speed exponentially by our factor somewhere in the range of ~80-99%
lastTRSpeed = DriveCMD = t_DriveSpeed;
lastRampSpeed = RampedDriveSpeed; // Save this so we know when the next 1/32nd of a second transpires
}
else
{
t_DriveSpeed = DriveCMD = lastTRSpeed; // Still waiting for 1/32nd of a second to pass, hold last speed
}
}

// If the speed has approached 0, we consider ourselves done recoiling.
// When this function spits out a speed of 0, the sketch will automatically end the track recoil DriveMode
if (t_DriveSpeed <= 30) // 30 out of 255 is ~12%. Below this level most gearboxes are moving imperceptibly if at all.
{
// We're done
DriveRampEnabled = false;
t_DriveSpeed = DriveCMD = lastTRSpeed = 0;
TrackRecoilStarted = false;
}
}
else if (DriveMode == TRACK_RECOIL) // Track recoil is an anomaly and we are going to handle things exceptionally in this case.
{
if (SimpleTrackRecoil)
{
// This is the new, simpler track recoil action added in January 2020. Rather than start with a spike that tapers exponentially, we simply let the user
// specificy a speed percent and a time, and we just run in reverse at that speed for that amount of time.
if (!TrackRecoilStarted)
{
// Just started track recoil movement
// The first thing we do, is set the motor speed to KickbackSpeed. Above we already set the motor direction to reverse by setting the "neg" flag
t_DriveSpeed = DriveCMD = lastTRSpeed = KickbackSpeed;
DriveRampEnabled = false; // Not using ramping for simple recoil
RampDir = 0; // No ramping
TrackRecoilStartTime = millis(); // Record when we started
TrackRecoilStarted = true; // Go
}
else
{
if ((millis() - TrackRecoilStartTime) >= TrackRecoilDuration)
{
// When this function spits out a speed of 0, the sketch will automatically end the track recoil DriveMode
t_DriveSpeed = DriveCMD = lastTRSpeed = 0;
TrackRecoilStarted = false;
}
else
{
// Continue at the same speed
t_DriveSpeed = DriveCMD = lastTRSpeed = KickbackSpeed;
}
}
}
else
{
// This is the original track recoil action that starts with an initial reverse command spike that tapers exponentially.
if (!TrackRecoilStarted)
{
// Just started track recoil movement
// The first thing we do, is set the motor speed to KickbackSpeed. Above we already set the motor direction to reverse by setting the "neg" flag
t_DriveSpeed = DriveCMD = lastTRSpeed = KickbackSpeed;
DriveRampEnabled = true; // Now we will enable ramping although we will not use normally, see below
RampDir = 1; // Ramp goes up
t_DriveSkipNum = 1; // No skipping
t_DriveRampStep = 1; // 1 step at a time (256 steps per second)
RampedDriveSpeed = lastRampSpeed = 1; // Save the start
TrackRecoilStarted = true; // Go
}
else
{
// Typically we use the ramping feature to slowly increase or decrease our actual motor speed (RampedDriveSpeed).
// In this case, we are going to use RampedDriveSpeed essentially as a counter instead. We set step and skip to 1 such that
// RampedDriveSpeed will count to 256 every 1 second. After every 8 steps (1/32nd of a second) we decrement our
// actual speed manually (t_DriveSpeed) by some deceleration factor set by the user but that falls somewhere in the general
// range of 65-98%. In other words, if speed last time was 100 and our factor is 85%, this time speed will be 85%, next
// time around it will be 72%, etc... In this way we exponentially decrease our speed (not linearly), which results in
// a smooth but rapid deceleration from our original kickback speed
if (RampedDriveSpeed >= 1024) { t_DriveSpeed = 0; } // We've waited 4 full seconds, that's more than long enough, we're done
else
{
DriveRampEnabled = true;
RampDir = 1;
t_DriveSkipNum = 1;
t_DriveRampStep = 1;
if ((RampedDriveSpeed - lastRampSpeed) >= 8) // Every 1/32nd of a second we decrement speed
{
t_DriveSpeed = (int16_t)(((float)lastTRSpeed * DecelerationFactor) + 0.5); // Decrease speed exponentially by our factor somewhere in the range of ~80-99%
lastTRSpeed = DriveCMD = t_DriveSpeed;
lastRampSpeed = RampedDriveSpeed; // Save this so we know when the next 1/32nd of a second transpires
}
else
{
t_DriveSpeed = DriveCMD = lastTRSpeed; // Still waiting for 1/32nd of a second to pass, hold last speed
}
}

// If the speed has approached 0, we consider ourselves done recoiling.
// When this function spits out a speed of 0, the sketch will automatically end the track recoil DriveMode
if (t_DriveSpeed <= 30) // 30 out of 255 is ~12%. Below this level most gearboxes are moving imperceptibly if at all.
{
// We're done
DriveRampEnabled = false;
t_DriveSpeed = DriveCMD = lastTRSpeed = 0;
TrackRecoilStarted = false;
}
}
}
}
// BRAKING
// =============================================================================================================================================================>>
Expand Down
4 changes: 3 additions & 1 deletion OpenPanzerTCB/src/OP_Driver/OP_Driver.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -129,7 +129,9 @@ class OP_Driver
// Track recoil
static uint8_t KickbackSpeed; // Track recoil initial kick-back speed
static float DecelerationFactor; // Track recoil deceleration factor applied to kick-back speed

static uint8_t TrackRecoilDuration; // Duration of the simple track recoil in mS (values from 1 to 255)
static uint32_t TrackRecoilStartTime; // Time when simple track recoil begins, so we know when to stop it.

// Drive speed ramping
static boolean DriveRampEnabled; // Is ramping enabled for drive speed
static volatile uint16_t RampedDriveSpeed; // DRIVE speed constrained to ramping
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