ank/cruisecontrol
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now using a mosfet, no "center"

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This commit is contained in:
Andy Killorin 2025-03-05 12:44:55 -05:00
parent 782fd891a1
commit 6192627e25
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
1 changed files with 10 additions and 11 deletions
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21
controller/src/main.rs
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@ -99,9 +99,9 @@ async fn main(spawner: Spawner) {
let mut drive_pwm = Pwm::new_output_ab(p.PWM_SLICE1, p.PIN_18, p.PIN_19, d.clone());
let mut f: pwm::Config = Default::default();
f.divider = 40.into();
f.top = 62500; // 20ms
f.compare_b = 4687; // 1.5ms
f.divider = 1.into(); // no reason to slow down, this is going right into a mosfet
f.top = u16::MAX;
f.compare_b = 0;
let flip_pwm = Pwm::new_output_b(p.PWM_SLICE0, p.PIN_17, f.clone());
let sda = p.PIN_20;
@ -295,14 +295,13 @@ async fn main(spawner: Spawner) {
}
}
/// -1 to 1
/// 0 to 1
fn calc_speed(speed: f32) -> u16 {
const COUNTS_PER_MS: f32 = 3125.;
let speed = speed.clamp(-1., 1.);
let speed = speed.clamp(0., 1.);
let ms = (speed/2.0)+1.5;
let speed = speed * u16::MAX as f32;
(COUNTS_PER_MS * ms) as u16
speed as u16
}
#[derive(Debug)]
@ -361,8 +360,8 @@ fn handle_cam(cam: &mut Pwm, state: &mut CamState, limit: &Input) {
let mut f: pwm::Config = Default::default();
f.divider = 40.into();
f.top = 62500; // 20ms
f.compare_b = calc_speed(-speed); // 1.5ms
f.divider = 1.into();
f.top = u16::MAX;
f.compare_b = calc_speed(speed);
cam.set_config(&f);
}