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analog control fix #79

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analog control fix #79

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69f71d1
analog control fix
kozinalexey Feb 12, 2019
d9c443e
Update Src/main.c
p-h-a-i-l Feb 13, 2019
54658c5
Update Src/main.c
p-h-a-i-l Feb 13, 2019
a957cae
Update Src/main.c
p-h-a-i-l Feb 13, 2019
1123870
Update Src/main.c
p-h-a-i-l Feb 13, 2019
b2da64a
Update Src/main.c
p-h-a-i-l Feb 13, 2019
6ac5d37
Update Src/main.c
p-h-a-i-l Feb 13, 2019
239a074
Update Src/main.c
p-h-a-i-l Feb 13, 2019
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15 changes: 11 additions & 4 deletions Src/main.c
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Original file line number Diff line number Diff line change
Expand Up @@ -200,11 +200,18 @@ int main(void) {
#endif

#ifdef CONTROL_ADC
// ADC values range: 0-4095, see ADC-calibration in config.h
cmd1 = CLAMP(adc_buffer.l_tx2 - ADC1_MIN, 0, ADC1_MAX) / (ADC1_MAX / 1000.0f); // ADC1
cmd2 = CLAMP(adc_buffer.l_rx2 - ADC2_MIN, 0, ADC2_MAX) / (ADC2_MAX / 1000.0f); // ADC2
if(adc_buffer.l_tx2 < ADC1_ZERO) {
cmd1 = (CLAMP(adc_buffer.l_tx2, ADC1_MIN, ADC1_ZERO) - ADC1_ZERO) / ((ADC1_ZERO - ADC1_MIN) / ADC1_MULT_NEG); // ADC1 - Steer
} else {
cmd1 = (CLAMP(adc_buffer.l_tx2, ADC1_ZERO, ADC1_MAX) - ADC1_ZERO) / ((ADC1_MAX - ADC1_ZERO) / ADC1_MULT_POS); // ADC1 - Steer
}

// use ADCs as button inputs:
if(adc_buffer.l_rx2 < ADC2_ZERO) {
cmd2 = (CLAMP(adc_buffer.l_rx2, ADC2_MIN, ADC2_ZERO) - ADC2_ZERO) / ((ADC2_ZERO - ADC2_MIN) / ADC2_MULT_NEG); // ADC2 - Speed
} else {
cmd2 = (CLAMP(adc_buffer.l_rx2, ADC2_ZERO, ADC2_MAX) - ADC2_ZERO) / ((ADC2_MAX - ADC2_ZERO) / ADC2_MULT_POS); // ADC2 - Speed
}
// use ADCs as button inputs:
button1 = (uint8_t)(adc_buffer.l_tx2 > 2000); // ADC1
button2 = (uint8_t)(adc_buffer.l_rx2 > 2000); // ADC2

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