ADD: define to change gametrak ADC wirering in software

Author: Niklas Fauth

Inc/config.h

@@ -39,43 +39,22 @@
 
 #define INACTIVITY_TIMEOUT 8        // minutes of not driving until poweroff. it is not very precise.
 
-// ############################### LCD DEBUG ###############################
-
-//#define DEBUG_I2C_LCD             // standard 16x2 or larger text-lcd via i2c-converter on right sensor board cable
-
 // ############################### SERIAL DEBUG ###############################
 
 //#define DEBUG_SERIAL_USART3         // right sensor board cable, disable if I2C (nunchuck or lcd) is used!
 //#define DEBUG_BAUD       115200     // UART baud rate
 //#define DEBUG_SERIAL_SERVOTERM
 //#define DEBUG_SERIAL_ASCII          // "1:345 2:1337 3:0 4:0 5:0 6:0 7:0 8:0\r\n"
 
-// ############################### INPUT ###############################
-
-// ###### CONTROL VIA UART (serial) ######
-//#define CONTROL_SERIAL_USART2       // left sensor board cable, disable if ADC or PPM is used!
-// #define CONTROL_BAUD       19200    // control via usart from eg an Arduino or raspberry
-// for Arduino, use void loop(void){ Serial.write((uint8_t *) &steer, sizeof(steer)); Serial.write((uint8_t *) &speed, sizeof(speed));delay(20); }
-
-// ###### CONTROL VIA RC REMOTE ######
-// left sensor board cable. Channel 1: steering, Channel 2: speed.
-//#define CONTROL_PPM                 // use PPM-Sum as input. disable DEBUG_SERIAL_USART2!
-//#define PPM_NUM_CHANNELS 6          // total number of PPM channels to receive, even if they are not used.
-
-// ###### CONTROL VIA TWO POTENTIOMETERS ######
-// ADC-calibration to cover the full poti-range: connect potis to left sensor board cable (0 to 3.3V) (do NOT use the red 15V wire in the cable!). see <How to calibrate>. turn the potis to minimum position, write value 1 to ADC1_MIN and value 2 to ADC2_MIN. turn to maximum position and repeat it for ADC?_MAX. make, flash and test it.
-//#define CONTROL_ADC                 // use ADC as input. disable DEBUG_SERIAL_USART2!
-//#define ADC1_MIN 0                // min ADC1-value while poti at minimum-position (0 - 4095)
-//#define ADC1_MAX 4095               // max ADC1-value while poti at maximum-position (0 - 4095)
-//#define ADC2_MIN 0                // min ADC2-value while poti at minimum-position (0 - 4095)
-//#define ADC2_MAX 4095               // max ADC2-value while poti at maximum-position (0 - 4095)
-
 // ###### TRANSPOTTER FIRMWARE #######
 #define CONTROL_GAMETRAK
 #define SUPPORT_LCD
 #define SUPPORT_NUNCHUCK
 //#define SUPPORT_REMOTE
 
+#define GAMETRAK_CONNECTION_NORMAL    // for normal wireing accoring to the wiki Instructions
+//#define GAMETRAK_CONNECTION_ALTERNATE // use this define instead if you messed up the gametrak ADC wirering (steering is speed, and length of teh wire is steering)
+
 #define ROT_P         -1.2  // P coefficient for the direction controller. Positive / Negative values to invert gametrak steering direction.
 #define FILTER         0.1  // lower value == softer filter. do not use values <0.01, you will get float precision issues.
 

Src/main.c

@@ -335,9 +335,15 @@ int main(void) {
 
 
 
-
+    #ifdef GAMETRAK_CONNECTION_NORMAL
     uint16_t distance = CLAMP((adc_buffer.l_rx2) - 180, 0, 4095);
     steering = (adc_buffer.l_tx2 - 2048) / 2048.0;
+    #endif
+    #ifdef GAMETRAK_CONNECTION_ALTERNATE
+    uint16_t distance = CLAMP((adc_buffer.l_tx2) - 180, 0, 4095);
+    steering = (adc_buffer.l_rx2 - 2048) / 2048.0;
+    #endif
+
     feedforward = ((distance - (int)(setDistance * 1345)));
     if (nunchuck_connected == 0) {
       speedL = speedL * 0.8f + (CLAMP(feedforward +  ((steering)*((float)MAX(ABS(feedforward), 50)) * ROT_P), -850, 850) * -0.2f);