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EFeru / hoverboard-firmware-hack-FOC

With Field Oriented Control (FOC)
GNU General Public License v3.0
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Electronic brake #37

Closed pav18 closed 4 years ago

pav18 commented 4 years ago

I am playing with firmware and my GoKart. Are anybody already implemented electronic brake via Arduino? Would you share the code please? Just to do less experiments. If I have torq 1000, my speed is at max and I need to fully but comfortably stop what shall I send? If I send -1000 wheels will be blocked? I need to increase back torq? -100, -200, -300? How to do it better? Thank you.

EFeru commented 4 years ago

Hi @pav18 ,

I implemented something similar in the HOVERCAR variant. Please have a look at this part of the code: https://github.com/EmanuelFeru/hoverboard-firmware-hack-FOC/blob/95c10c9ba788de2bb88483276b7c03336fc31aa1/Src/main.c#L212-L233

The code above allows for smooth braking without the risk of going in the opposite direction when reaching standstill.

pav18 commented 4 years ago

Sorry, I am not so good in coding and I did not understand your code, especially it links to the functions not listed here. I made that code below but there is a risk of going opposite direction. And also I would be happy if you tell me how to decrease the speed smooth. Also is it possible to use beeper on the main board - like horn for exmple? Is it possible to add mode switch? to Send(Steer, Torq/Speed, Mode) for example?

` StopC = Stop1.read();

if (StopC > 0 && (Feedback.speedL_meas > 0 || Feedback.speedL_meas < -0)){ //if (StopC > 0 && Feedback.speedL_meas != 0){ digitalWrite(LedPin100, HIGH); operate = 0; if (gas > 60 && Feedback.speedL_meas > 0){ gas = 0; } else if (gas < -60 && Feedback.speedL_meas < 0){ gas = 0; } else if (StopMillis < timeNow && Feedback.speedL_meas > 0){ gas = gas - 100; StopMillis = timeNow + 100; digitalWrite(LedPin100, LOW); } else if (StopMillis < timeNow && Feedback.speedL_meas < -0){ gas = gas + 100; StopMillis = timeNow + 100; digitalWrite(LedPin100, LOW); } StopCOld = StopC; } else { if (StopC != StopCOld){ digitalWrite(LedPin100, LOW); //operate = 1; gas = 0; StopCOld = StopC; } } `

EFeru commented 4 years ago

Also is it possible to use beeper on the main board - like horn for exmple?

It is possible to customize the beep as you desire. As a horn, long, short beep, etc.. Just experiment with it a bit.

Regarding your code.. I don't know exactly what you want to achieve.. so I wonder is you want smooth braking why not using the HOVERCAR variant and just write cmd1 = Brake pedal and cmd2 = Throttle pedal from your Arduino?