Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Allow TILT/LIFT emergency to be disabled completely #76

Merged
merged 2 commits into from
Mar 10, 2024
Merged

Allow TILT/LIFT emergency to be disabled completely #76

Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
0783b1f
Allow TILT/LIFT emergency to be disabled completely
olliewalsh Aug 7, 2023
f41d2bf
Merge branch 'ClemensElflein:main' into lift
olliewalsh Sep 6, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
10 changes: 5 additions & 5 deletions Firmware/LowLevel/src/main.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -31,9 +31,9 @@
#define STATUS_CYCLETIME 100 // cycletime for refresh analog and digital Statusvalues
#define UI_SET_LED_CYCLETIME 1000 // cycletime for refresh UI status LEDs

#define TILT_EMERGENCY_MILLIS 2500 // Time for a single wheel to be lifted in order to count as emergency. This is to filter uneven ground.
#define LIFT_EMERGENCY_MILLIS 100 // Time for both wheels to be lifted in order to count as emergency. This is to filter uneven ground.
#define BUTTON_EMERGENCY_MILLIS 20 // Time for button emergency to activate. This is to debounce the button if triggered on bumpy surfaces
#define TILT_EMERGENCY_MILLIS 2500 // Time for a single wheel to be lifted in order to count as emergency (0 disable). This is to filter uneven ground.
#define LIFT_EMERGENCY_MILLIS 100 // Time for both wheels to be lifted in order to count as emergency (0 disable). This is to filter uneven ground.
#define BUTTON_EMERGENCY_MILLIS 20 // Time for button emergency to activate. This is to debounce the button.

// Define to stream debugging messages via USB
// #define USB_DEBUG
Expand Down Expand Up @@ -167,7 +167,7 @@ void updateEmergency() {
button_emergency_started = 0;
}

if (lift_emergency_started > 0 && (millis() - lift_emergency_started) >= LIFT_EMERGENCY_MILLIS) {
if (LIFT_EMERGENCY_MILLIS > 0 && lift_emergency_started > 0 && (millis() - lift_emergency_started) >= LIFT_EMERGENCY_MILLIS) {
// Emergency bit 2 (lift wheel 1)set?
if (emergency1)
emergency_state |= 0b01000;
Expand All @@ -186,7 +186,7 @@ void updateEmergency() {
tilt_emergency_started = 0;
}

if (tilt_emergency_started > 0 && (millis() - tilt_emergency_started) >= TILT_EMERGENCY_MILLIS) {
if (TILT_EMERGENCY_MILLIS > 0 && tilt_emergency_started > 0 && (millis() - tilt_emergency_started) >= TILT_EMERGENCY_MILLIS) {
// Emergency bit 2 (lift wheel 1)set?
if (emergency1)
emergency_state |= 0b01000;
Expand Down