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lukash / refloat

VESC package for self-balancing skateboards.
GNU General Public License v3.0
20 stars 14 forks source link

Use smooth duty universally #17

Closed lukash closed 1 month ago

lukash commented 2 months ago

Duty cycle can spike a lot, the purposes it's used for can all benefit from the mild smoothing we already have. Unify the usage and only use smooth duty for everything.

@surfdado putting this into a PR so that you have a chance to comment, WDYT? The motivation is smoother duty for the haptic duty alert (I had some spikes trigger it during normal riding). Please add a review if you don't mind.

Untested at the time of posting the PR, I'll only merge after I test it, but it's basically just the duty pushback and the wheelslip detection that uses the duty value.

surfdado commented 2 months ago

I have no objections. The added delay is minimal (12ms), we could even be a bit more aggressive with the smoothing, like 0.95/0.05, without any downsides I can think of