v9.8.0: switchable crawler mode

README.md

@@ -71,6 +71,7 @@ LCD dashboard (original by Gamadril)
 - ESP-NOW based 2.4 GHz wireless trailer control support
 - An An RZ7886 motor driver IC can be used instead of a standard crawler type RC ESC
 - Battery low discharge protection options
+- Switchable crawler mode (with just minimal virtual inertia)
 
 ## On the todo list:
 - cornering lights (on the beacon outputs)
@@ -514,6 +515,11 @@ const uint8_t shakerStop = 60; // Shaker power while engine stop (max. 255, abou
 
 ## Changelog (newest on top):
 
+### New in V 9.8.0:
+- Adjustable RECOVERY_HYSTERESIS for battery protection
+- 8_adjustmentsSound.h (masterVolumeCrawlerThreshold) and 3_adjustmentsESC.h (crawlerEscRampTime): switchable crawler mode with just minimal inertia for gearbox protection. Allows to have a "show mode" and a "competition mode"
+- 3_adjustmentsESC.h: Additional comments in battery low dischgarge section, according to neo2001
+
 ### New in V 9.7.0:
 - NEOPIXEL_KNIGHT_RIDER scanner optimized, synchrone with sound
 - NEOPIXEL_BLUELIGHT: red & blue bluelight animation for fire trucks etc.

data/trailer.txt

@@ -0,0 +1 @@
+This is a test!!

src/2_adjustmentsRemote.h

@@ -38,7 +38,7 @@ uint32_t sbusBaud = 100000; // Standard is 100000. Try to lower it, if your chan
 
 // CHANNEL LINEARITY SETTINGS  ****************************************************************************************************************
 
-//#define EXPONENTIAL_THROTTLE // Exponential throttle curve. Ideal for enhanced slow speed control in crawlers
+#define EXPONENTIAL_THROTTLE // Exponential throttle curve. Ideal for enhanced slow speed control in crawlers
 //#define EXPONENTIAL_STEERING // Exponential steering curve. More steering accuracy around center position
 
 // CHANNEL AVERAGING (EXPERIMENTAL!) **********************************************************************************************************

src/3_adjustmentsESC.h

@@ -58,7 +58,7 @@
 
 // General options
 //#define QUICRUN_FUSION // Linearity compensation for HOBBYWING Quicrun Fusion motor / ESC combo
-#define ESC_DIR // uncomment this, if your motor is spinning in the wrong direction
+//#define ESC_DIR // uncomment this, if your motor is spinning in the wrong direction
 
 /* RZ7886 motor driver IC instead of ESC. Not in combination with #define THIRD_BRAKELIGHT or #define TRAILER_LIGHTS_TRAILER_PRESENCE_SWITCH_DEPENDENT
   Wiring:
@@ -114,14 +114,23 @@ const uint16_t escReversePlus = 0;
 // Warning: vehicle may be unable to stop, if too high, especially when driving downhill! NEVER more than 20!
 const uint16_t brakeMargin = 0; // For RZ7886 motor driver and 370 motor = 10
 
-// Battery low discharge protection (only for boards with voltage divider resistors):
-// IMPORTANT: adjust RESISTOR_TO_BATTTERY_PLUS & DIODE_DROP until your readings are correct!
+// Crawler mode escRampTime (see "8_adjustmentsSound.h") WARNING: a very low setting may damage your transmission!
+const uint8_t crawlerEscRampTime = 10; // about 10, less = more direct control = less virtual inertia
+
+/* Battery low discharge protection (only for boards with voltage divider resistors):
+*  IMPORTANT: Enter used resistor values in Ohms (Ω) and THEN adjust DIODE_DROP, until your readings match the actual battery voltage! */
 //#define BATTERY_PROTECTION // This will disable the ESC output, if the battery cutout voltage is reached
 const float CUTOFF_VOLTAGE = 3.3; // Usually 3.3 V per LiPo cell. NEVER below 3.2 V!
 const float FULLY_CHARGED_VOLTAGE = 4.2; // Usually 4.2 V per LiPo cell, NEVER above!
-const uint16_t RESISTOR_TO_BATTTERY_PLUS = 10000; // 10000 Ohms (9900 for switch mode test board, 9650 for Ural, 9500 for Landy)
-const uint16_t RESISTOR_TO_GND = 1000; // 1000 Ohms
-const float DIODE_DROP = 0.34; // About 0.34V for SS34 diode on switch mode board (0 for Ural & Landy)
+const float RECOVERY_HYSTERESIS = 0.2; // around 0.2 V
+/* Note on resistor values: These values will be used to calculate the actual ratio between these two resistors (which is also called a "voltage divider").
+ * When selecting resistors, always use two of the same magnitude: Like, for example, 10k/2k, 20k/4k or 100k/20k. NEVER exceed a ratio LOWER than (4:1 = 4)!
+ * WARNING: If the ratio is too LOW, like 10k/5k (2:1 = 2), the battery voltage will most likely DAMAGE the controller permanently!
+ * Example calculation: 2000 / (2000 + 10000) = 0.166 666 666 7; 7.4 V * 0.167 = 1.2358 V (of 3.3 V maximum on GPIO Pin). */
+const uint16_t RESISTOR_TO_BATTTERY_PLUS = 10000; // Value in Ohms (Ω), for example 10000
+const uint16_t RESISTOR_TO_GND = 2000; // Value in Ohms (Ω), for example 1000. Measuring exact resistor values before soldering, if possible is recommended!
+const float DIODE_DROP = 0.34; // Fine adjust measured value and/or consider diode voltage drop (about 0.34V for SS34 diode)
+/* It is recommended to add a sticker to your ESP32, which includes the 3 calibration values above */
 volatile int outOfFuelVolumePercentage = 80; // Adjust the message volume in %
 // Select the out of fuel message you want:
 #include "vehicles/sounds/OutOfFuelEnglish.h"

src/4_adjustmentsTransmission.h

@@ -20,7 +20,7 @@
 // Additional transmission options =========================================================================================================
 // Automatic transmission with overdrive (lower RPM in top gear, gear ratio lower than 1:1, 4 & 6 speed only)
 // Also usable in combination with VIRTUAL_3_SPEED. The 4th gear is switched automatically in this case, if driving in 3rd gear @ full throttle
-//#define OVERDRIVE // Don't use it for: doubleClutch. Not working with SEMI_AUTOMATIC, but you can leave it on in this case.
+#define OVERDRIVE // Don't use it for: doubleClutch. Not working with SEMI_AUTOMATIC, but you can leave it on in this case.
 
 // In some cases we want a different reverse acceleration for automatic transmission vehicles.
 uint16_t automaticReverseAccelerationPercentage = 100;

src/6_adjustmentsLights.h

@@ -7,15 +7,15 @@
  */
 
 // Neopixel settings ----------------------------------------------------------------------------------------------------------------------------- 
-#define NEOPIXEL_ENABLED // GPIO0 used for WS2812 Neopixel control, if defined!
+//#define NEOPIXEL_ENABLED // GPIO0 used for WS2812 Neopixel control, if defined!
 #define NEOPIXEL_COUNT 8 // How many Neopixels? 8 for Knight Rider, 3 for B33lz3bub
 #define NEOPIXEL_BRIGHTNESS  127 // Brightness (255 is the maximum)
 
 // Choose the mode you want
 //#define NEOPIXEL_DEMO // Demo
 //#define NEOPIXEL_KNIGHT_RIDER // Knight Rider scanner animation for 8 LED (use it in combination with "kittScanner.h" "siren" sound in your vehicle file)
 #define NEOPIXEL_BLUELIGHT // Bluelight animation for 8 LED
-#define NEOPIXEL_HIGHBEAM // Neopixel bar is used as high beam as well, if defined. Also usable in combination with NEOPIXEL_KNIGHT_RIDER & NEOPIXEL_BLUELIGHT
+//#define NEOPIXEL_HIGHBEAM // Neopixel bar is used as high beam as well, if defined. Also usable in combination with NEOPIXEL_KNIGHT_RIDER & NEOPIXEL_BLUELIGHT
 //#define NEOPIXEL_B33LZ3BUB // B33lz3bub Austria animation for 3 LED: https://www.rc-modellbau-portal.de/index.php?threads/baubericht-mercedes-actros-1851-gigaspace-tamiya.14349/page-3
 
 

src/7_adjustmentsServos.h

@@ -56,7 +56,7 @@ const uint8_t SERVO_FREQUENCY = 50; // usually 50Hz, some servos may run smoothe
 // WARNING: never connect receiver PWM signals to the "CH" pins in BUS communication mode!
 
 // Servo limits 
-const uint16_t CH1L = 1880, CH1C = 1480, CH1R = 1080; // CH1 steering left 1875, center 1475, right 1075
+const uint16_t CH1L = 1840, CH1C = 1485, CH1R = 1090; // CH1 steering left 1880, center 1480, right 1080
 const uint16_t CH2L = 978, CH2C = 1833, CH2R = 1833; // CH2 transmission gear 1 978, 2 1833, 3 1833
 const uint16_t CH3L = 1300, CH3C = 1450, CH3R = 1600; // CH3 winch pull, off, release
 const uint16_t CH4L = 1300, CH4R = 1700; // CH4 trailer coupler (5th. wheel) locked, unlocked

src/8_adjustmentsSound.h

@@ -7,6 +7,13 @@
  */
 
 //#define NO_SIREN // siren sound is not played, if defined
-
-const  uint8_t numberOfVolumeSteps = 3; // The mumber of volume steps below
-const uint8_t masterVolumePercentage[] = {100, 66, 44}; // loud, medium, silent (more than 100% may cause distortions)
+
+// Volume adjustment
+//const  uint8_t numberOfVolumeSteps = 3; // The mumber of volume steps below
+//const uint8_t masterVolumePercentage[] = {100, 66, 44}; // loud, medium, silent (more than 100% may cause distortions)
+
+const  uint8_t numberOfVolumeSteps = 4; // The mumber of volume steps below
+const uint8_t masterVolumePercentage[] = {100, 66, 44, 0}; // loud, medium, silent, no sound (more than 100% may cause distortions)
+
+// Crawler mode
+const uint8_t masterVolumeCrawlerThreshold = 44; // If master volume is <= this threshold, crawler mode (without virtual inertia) is active

src/src.ino

@@ -18,7 +18,7 @@
    Arduino IDE is supported as before, but stuff was renamed and moved to different folders!
 */
 
-char codeVersion[] = "9.7.0"; // Software revision.
+char codeVersion[] = "9.8.0"; // Software revision.
 
 // This stuff is required for Visual Studio Code IDE, if .ino is renamed into .cpp!
 #include <Arduino.h>
@@ -69,7 +69,7 @@ float batteryVolts();
 #include "10_adjustmentsTrailer.h"      // <<------- Trailer related adjustments
 
 // DEBUG options can slow down the playback loop! Only uncomment them for debugging, may slow down your system!
-#define CHANNEL_DEBUG // uncomment it for input signal & general debugging informations
+//#define CHANNEL_DEBUG // uncomment it for input signal & general debugging informations
 //#define ESC_DEBUG // uncomment it to debug the ESC
 //#define AUTO_TRANS_DEBUG // uncomment it to debug the automatic transmission
 //#define MANUAL_TRANS_DEBUG // uncomment it to debug the manual transmission
@@ -438,6 +438,7 @@ uint16_t escPulseMin = 1000;
 uint16_t escPulseMaxNeutral = 1500;
 uint16_t escPulseMinNeutral = 1500;
 uint16_t currentSpeed = 0;                               // 0 - 500 (current ESC power)
+volatile bool crawlerMode = false;                       // Crawler mode intended for crawling competitons (withouth sound and virtual inertia)
 
 // Lights
 int8_t lightsState = 0;                                  // for lights state machine
@@ -2983,21 +2984,23 @@ void gearboxDetection() {
 #else // only active, if not in TRACKED_MODE -------------------------------------------------------------
 
 #if defined OVERDRIVE && defined VIRTUAL_3_SPEED // Additional 4th gear mode for virtual 3 speed ********************************
-  // The 4th gear (overdrive) is engaged automatically, if driving @ full throttle in 3rd gear
-  if (currentRpm > 490 && selectedGear == 3 && engineLoad < 5 && currentThrottle > 490 && millis() - lastShiftingMillis > 2000) {
-    overdrive = true;
-  }
-  if (!escIsBraking) { // Lower downshift point, if not braking
-    if (currentRpm < 200 && millis() - lastShiftingMillis > 2000) {
-      overdrive = false;
+  if (!crawlerMode) {
+    // The 4th gear (overdrive) is engaged automatically, if driving @ full throttle in 3rd gear
+    if (currentRpm > 490 && selectedGear == 3 && engineLoad < 5 && currentThrottle > 490 && millis() - lastShiftingMillis > 2000) {
+      overdrive = true;
     }
-  }
-  else { // Higher downshift point, if braking
-    if ((currentRpm < 400 || engineLoad > 150) && millis() - lastShiftingMillis > 2000) {
-      overdrive = false;
+    if (!escIsBraking) { // Lower downshift point, if not braking
+      if (currentRpm < 200 && millis() - lastShiftingMillis > 2000) {
+        overdrive = false;
+      }
     }
+    else { // Higher downshift point, if braking
+      if ((currentRpm < 400 || engineLoad > 150) && millis() - lastShiftingMillis > 2000) {
+        overdrive = false;
+      }
+    }
+    if (selectedGear < 3) overdrive = false;
   }
-  if (selectedGear < 3) overdrive = false;
 #endif // End of overdrive ******************************************************************************************************
 
 #if not defined VIRTUAL_16_SPEED_SEQUENTIAL && not defined SEMI_AUTOMATIC// 3 gears, selected by 3 position switch **************
@@ -3210,7 +3213,7 @@ void esc() { // ESC main function ================================
       Serial.printf("Disconnect battery to prevent it from overdischarging!\n", batteryVoltage, batteryCutoffvoltage);
       batteryProtection = true;
     }
-    if (batteryVoltage > batteryCutoffvoltage + (0.05 * numberOfCells)) { // Recovery hysteresis
+    if (batteryVoltage > batteryCutoffvoltage + (FULLY_CHARGED_VOLTAGE * numberOfCells)) { // Recovery hysteresis
       batteryProtection = false;
     }
     // Out of fuel message triggering
@@ -3227,7 +3230,6 @@ void esc() { // ESC main function ================================
   escRampTime = escRampTimeThirdGear * 10 / virtualManualGearRatio[selectedGear];
 
 #elif defined VIRTUAL_16_SPEED_SEQUENTIAL
-  //escRampTime = escRampTimeThirdGear;// * 10 / map(virtualManualGearRatio[selectedGear], 155, 10, 23, 10);
   escRampTime = escRampTimeThirdGear * virtualManualGearRatio[selectedGear] / 5;
 
 #else // TAMIYA 3 speed shifting transmission
@@ -3241,9 +3243,20 @@ void esc() { // ESC main function ================================
     if (escInReverse) escRampTime = escRampTime * 100 / automaticReverseAccelerationPercentage; // faster acceleration in automatic reverse, EXPERIMENTAL, TODO!
   }
 
-  // calulate throttle dependent brake & acceleration steps
-  brakeRampRate = map (currentThrottle, 0, 500, 1, escBrakeSteps);
-  driveRampRate = map (currentThrottle, 0, 500, 1, escAccelerationSteps);
+  // Drive mode -------------------------------------------
+  // Crawler mode for direct control -----
+  crawlerMode = (masterVolume <= masterVolumeCrawlerThreshold); // Direct control, depending on master volume
+
+  if (crawlerMode) { // almost no virtual inertia (just for drive train protection), for crawling competitions
+    escRampTime = crawlerEscRampTime;
+    brakeRampRate = map (currentThrottle, 0, 500, 1, 10);
+    driveRampRate = 10;
+  }
+  else { // Virtual inertia mode -----
+    // calulate throttle dependent brake & acceleration steps
+    brakeRampRate = map (currentThrottle, 0, 500, 1, escBrakeSteps);
+    driveRampRate = map (currentThrottle, 0, 500, 1, escAccelerationSteps);
+  } // ----------------------------------------------------
 
   // Emergency ramp rates for falisafe
   if (failSafe) {
@@ -4079,7 +4092,7 @@ void updateRGBLEDs() {
         rgbLEDs[6] = CRGB::Red;
         rgbLEDs[7] = CRGB::Blue;
       }
-      if (millis() - lastNeopixelBluelightTime > 80) { // Step 2
+      if (millis() - lastNeopixelBluelightTime > 160) { // Step 2
         fill_solid(rgbLEDs, NEOPIXEL_COUNT, CRGB::Black);
       }
       if (millis() - lastNeopixelBluelightTime > 300) { // Step 3
@@ -4090,7 +4103,7 @@ void updateRGBLEDs() {
         rgbLEDs[6] = CRGB::Blue;
         rgbLEDs[7] = CRGB::Red;
       }
-      if (millis() - lastNeopixelBluelightTime > 380) { // Step 4
+      if (millis() - lastNeopixelBluelightTime > 460) { // Step 4
         fill_solid(rgbLEDs, NEOPIXEL_COUNT, CRGB::Black);
       }
       if (millis() - lastNeopixelBluelightTime > 600) { // Step 5