sl-controls
80a41e5008
Adds motor_driver.c/h between the balance PID and the raw hoverboard UART driver: - Differential drive: balance_cmd → speed, steer_cmd → steer - Steer-only ramping at MOTOR_STEER_RAMP_RATE (balance PID keeps full immediate authority — no ramp on speed channel) - Headroom clamp: reduces steer so |speed|+|steer|<=MOTOR_CMD_MAX ensuring ESC never clips the balance command - Emergency stop: latches on TILT_FAULT, clears on BALANCE_DISARMED; send path stays in 50Hz ESC tick to avoid flooding UART main.c: replace bare hoverboard_send() with motor_driver_update(); config.h: MOTOR_CMD_MAX=1000, MOTOR_STEER_RAMP_RATE=20 counts/ms Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
59 lines
2.0 KiB
C
59 lines
2.0 KiB
C
#include "motor_driver.h"
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#include "hoverboard.h"
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#include "config.h"
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#include <stdlib.h>
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void motor_driver_init(motor_driver_t *m) {
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m->steer_actual = 0;
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m->estop = false;
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}
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void motor_driver_update(motor_driver_t *m,
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int16_t balance_cmd,
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int16_t steer_cmd,
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uint32_t now) {
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static uint32_t s_last_tick = 0;
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/* Delta-time for ramp (cap at 100ms to handle first call / long gaps).
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* Always update tick so ramp starts fresh when estop clears. */
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int32_t dt_ms = (int32_t)(now - s_last_tick);
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if (dt_ms > 100) dt_ms = 100;
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s_last_tick = now;
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/* Emergency stop: send zero, hold latch */
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if (m->estop) {
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hoverboard_send(0, 0);
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return;
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}
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/* Ramp steer toward target at MOTOR_STEER_RAMP_RATE counts/ms */
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int32_t max_step = (int32_t)MOTOR_STEER_RAMP_RATE * dt_ms;
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int32_t steer_error = (int32_t)steer_cmd - (int32_t)m->steer_actual;
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if (steer_error > max_step) steer_error = max_step;
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else if (steer_error < -max_step) steer_error = -max_step;
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m->steer_actual = (int16_t)((int32_t)m->steer_actual + steer_error);
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/* Headroom clamp: ensure |speed| + |steer| <= MOTOR_CMD_MAX
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* Reduce steer (not balance) to preserve PID authority. */
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int32_t speed = (int32_t)balance_cmd;
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int32_t steer = (int32_t)m->steer_actual;
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int32_t headroom = MOTOR_CMD_MAX - abs((int)speed);
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if (headroom < 0) headroom = 0;
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if (steer > headroom) steer = headroom;
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if (steer < -headroom) steer = -headroom;
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hoverboard_send((int16_t)speed, (int16_t)steer);
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}
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void motor_driver_estop(motor_driver_t *m) {
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m->estop = true;
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m->steer_actual = 0;
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/* Don't call hoverboard_send here — caller must drive sends via
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* motor_driver_update() at the normal 50Hz ESC rate to avoid
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* flooding the UART with 1kHz zero packets. */
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}
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void motor_driver_estop_clear(motor_driver_t *m) {
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m->estop = false;
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}
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