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Jonny999999 / armchair_fw

Firmware for a homemade automated electric armchair using an esp32 controller on a custom pcb
https://pfusch.zone/electric-armchair-v2
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Joystick cmd generation: jump in duty when changing stick position (when radius < 1) #47

Open Jonny999999 opened 7 months ago

Jonny999999 commented 7 months ago

when driving a slight turn at medium speed (r=0.5), then moving the stick back to Y to drive straight while keeping the radius approx 0.5 the duty jumps for about 10% which is noticeable with low accel limit

ideas

issue with axis-tolerance snapping? thus ratio instantly changes

debugging

log when moving the joystick from slight right of y-axis to Y-axis while keeping radius

W (166371) joystickCommands: left=17.67, right=0.51 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (166421) joystickCommands: left=17.27, right=0.81 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (166471) joystickCommands: left=16.94, right=1.35 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (166521) joystickCommands: left=16.99, right=1.85 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (166571) joystickCommands: left=17.05, right=2.13 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (166621) joystickCommands: left=16.59, right=2.48 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (166671) joystickCommands: left=16.17, right=2.75 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (166721) joystickCommands: left=15.92, right=2.91 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (166771) joystickCommands: left=15.15, right=3.32 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (166821) joystickCommands: left=14.36, right=3.80 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (166871) joystickCommands: left=13.40, right=4.20 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (166921) joystickCommands: left=13.09, right=4.45 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (166971) joystickCommands: left=12.73, right=4.80 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167021) joystickCommands: left=12.01, right=5.49 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167071) joystickCommands: left=11.88, right=5.74 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167121) joystickCommands: left=11.42, right=6.33 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167171) joystickCommands: left=11.16, right=6.70 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167221) joystickCommands: left=10.98, right=7.04 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167271) joystickCommands: left=10.82, right=7.14 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167321) joystickCommands: left=10.33, right=7.75 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167371) joystickCommands: left=10.17, right=7.95 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167421) joystickCommands: left=9.98, right=8.34 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167471) joystickCommands: left=9.73, right=8.74 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167521) joystickCommands: left=9.37, right=9.26 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167571) joystickCommands: left=9.19, right=9.74 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167621) joystickCommands: left=8.97, right=10.14 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167671) joystickCommands: left=8.81, right=10.73 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167721) joystickCommands: left=15.28, right=15.28 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167771) joystickCommands: left=15.54, right=15.54 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167821) joystickCommands: left=15.58, right=15.58 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167871) joystickCommands: left=15.36, right=15.36 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167921) joystickCommands: left=15.61, right=15.61 -- dutyMax=50, dutyBoost=35, dutyOffset=5
W (167971) joystickCommands: left=15.87, right=15.87 -- dutyMax=50, dutyBoost=35, dutyOffset=