Merge pull request #138 from Mitchlol/balance_app_updates

Balance app updates!
vedderb · Feb 27, 2020 · 8ae52e8 · 8ae52e8
2 parents 906ddb0 + 6d29b67
commit 8ae52e8
Show file tree

Hide file tree

Showing 6 changed files with 236 additions and 60 deletions.
diff --git a/appconf/appconf_default.h b/appconf/appconf_default.h
@@ -289,8 +289,11 @@
 #ifndef APPCONF_BALANCE_ROLL_FAULT
 #define APPCONF_BALANCE_ROLL_FAULT  		45
 #endif
-#ifndef APPCONF_BALANCE_USE_SWITCHES
-#define APPCONF_BALANCE_USE_SWITCHES  		false
+#ifndef APPCONF_BALANCE_ADC1
+#define APPCONF_BALANCE_ADC1  				0.0
+#endif
+#ifndef APPCONF_BALANCE_ADC2
+#define APPCONF_BALANCE_ADC2  				0.0
 #endif
 #ifndef APPCONF_BALANCE_OVERSPEED_DUTY
 #define APPCONF_BALANCE_OVERSPEED_DUTY  	0.9
@@ -325,6 +328,33 @@
 #ifndef APPCONF_BALANCE_CURRENT_BOOST
 #define APPCONF_BALANCE_CURRENT_BOOST 		0.0
 #endif
+#ifndef APPCONF_BALANCE_MULTI_ESC
+#define APPCONF_BALANCE_MULTI_ESC  			false
+#endif
+#ifndef APPCONF_BALANCE_YAW_KP
+#define APPCONF_BALANCE_YAW_KP	 			0.0
+#endif
+#ifndef APPCONF_BALANCE_YAW_KI
+#define APPCONF_BALANCE_YAW_KI 				0.0
+#endif
+#ifndef APPCONF_BALANCE_YAW_KD
+#define APPCONF_BALANCE_YAW_KD 				0.0
+#endif
+#ifndef APPCONF_BALANCE_ROLL_STEER_KP
+#define APPCONF_BALANCE_ROLL_STEER_KP 		0.0
+#endif
+#ifndef APPCONF_BALANCE_BRAKE_CURRENT
+#define APPCONF_BALANCE_BRAKE_CURRENT 		0.0
+#endif
+#ifndef APPCONF_BALANCE_OVERSPEED_DELAY
+#define APPCONF_BALANCE_OVERSPEED_DELAY 	0
+#endif
+#ifndef APPCONF_BALANCE_FAULT_DELAY
+#define APPCONF_BALANCE_FAULT_DELAY 		0
+#endif
+#ifndef APPCONF_BALANCE_TILTBACK_CONSTANT
+#define APPCONF_BALANCE_TILTBACK_CONSTANT 	0.0
+#endif
 
 // IMU
 #ifndef APPCONF_IMU_TYPE

diff --git a/applications/app.h b/applications/app.h
@@ -65,7 +65,9 @@ uint32_t app_balance_get_diff_time(void);
 float app_balance_get_motor_current(void);
 float app_balance_get_motor_position(void);
 uint16_t app_balance_get_state(void);
-uint16_t app_balance_get_switch_value(void);
+uint16_t app_balance_get_switch_state(void);
+float app_balance_get_adc1(void);
+float app_balance_get_adc2(void);
 
 // Custom apps
 void app_custom_start(void);