FIXEDDD!! MIXING DONE
that was fun!! I still think i may need to go back and change some of my values for example i may need to change !RUD to RUD, or !AIL to AIL, but without the controller, I am not sure if its correct. Its easy to change though later if i need to.
Now.. time to make the alarms work. I need this thing start beeping like crazy if someone picks up the controller and starts flipping switches. guess ill need to get to that section in the manual.
Basically what I have done, is set the controller up so that if all the switches are off, you are in ATR and throttle limited mode.and of course all the switches have to be set the way i want for the beeping to stop when you cut the TX on
that way someone cant just pick the controller up and start flying away with it and roll it over 15 times and break something. 4 wheel steer is notorious for flipping.. even with all the suspension work I'm doing to it.
Ive also went back in and added some throttle limitations. Remember this thing is going to be getting played with by a bunch of kids around a booth.. "I" know how to turn it wide open, but they wont. to be honest, any time 4wheel steering is enabled, you would be better off with throttle limitations anyways.
That said, I'm not sure if i like the way i have the ATR and throttle limits set up now. But to change it to the way i WANT, then i would need telemetry so it could be based off of speed and not
throttle % as it is now. (maybe gps???) Now, you could just go 35 mph, let off the throttle and turn it quickly and you will still have enough speed to cause it to flip, and no limit on the steering angle since you let off the throttle. Additionally, i think it might still be a little hard to drive. if you command it full left and its not tight enough, your going to have to remember to slow down to tighten up the turn.. where-as if throttle was mixed off of steering angle, (backward of how it is now) then the more you turn, the more it will automatically slow down. you could just hold it wide open and turn, and let the controller do the work, after thinking about it..i think i should change it... but anyways...Ive had enough of this for a day or so. haha.
also remember below, when you see the term ATR active (automatic turning radius) that means !RUD is selected on the !RUD/RUD switch. and likewise ATR disabled means RUD is selected.
LIST OF STEERING MODES AND SWITCH FUNCTIONS.
(also know as ATR mode - automatic turning radius)- no switches in "on" position: 4 wheel steer angle locked at 1:1 bias, and limited to max 80% servo travel at 0 throttle. 10% at full throttle. Max throttle limited to 84% This is "idiot proof" mode
- wheels turn in opposite directions
- wheels turn in same direction. (ID1 is affected by ATR when ATR is on. Contrary, Steering bias does not function when switched to ID1, regardless of mode or AIL switch positions.
- overrides and turns off all ATR, throttle restrictions, lane jump, and biasing
. Completely locks out rear steer. This mode replicates factory out of box settings with no rear steering and 100% throttle allowed.
** Unless otherwise stated, ID0 and ID1 functions perform identically with the exception of different direction steering angles; functions that don't apply to ID1 are noted **
- ATR mode active
- Shuts down ATR mode, and gives full range of travel to both sets of wheels.
- Steering bias Enforced. (unless ATR is active which overrides bias settings)
Elevator control position determines how much front or rear bias is applied to the commanded position. Example: elevator 0 = full front and rear steer 1:1 ratio; Elevator 100 = full front steer 1:0 ratio; Elevator -100 = full rear steer 0:! ratio.
The % of input is progressive through the elevator stick travel 2 exceptions:
1) the middle 50% of the elevator range gives 1:1 bias. (this allows a little play in the stick that will naturally occur)
2) the top and bottom 25% of the elevator stick travel are reserved for 1:0, and 0:1 ratios, respectively. (again, this ensures the user has a little "play" in the stick movement and rids unwanted inputs"
- Bias not active
Examples (switch settings)
RUD OFF/ AIL OFF - ATR on, biasing overidden
RUD OFF/ AIL ON - ATR on, Bias overidden+disengaged
RUD ON / AIL OFF - ATR OFF, Bias Functioning
RUD ON / AIL ON - ATR OFF, Bias Disengaged
RUD OFF/ AIL OFF - ATR on, biasing not applied
RUD OFF/ AIL ON - ATR on, biasing not applied
RUD ON / AIL OFF - ATR OFF, biasing not applied
RUD ON / AIL ON - ATR OFF, biasing not applied
Throttle limits explained
Throttle limits are set up in a manner that will allow best operation of vehicle by inexperienced users. In conjunction with ATR, the car will be safe, reliable, and very easy to handle. Variations of switching modes will allow you to achieve different throttle levels if desired.
First - !THR is default selection at start up. moving this switch to THR will allow 100% throttle regardless of mode (with the exception of mode ID2 which has its own 100% limit in place) !THR/THR switch can be considered the master speed switch.... !THR = limits are on; THR = limits are off.
- throttle limited to 76% **overridden to 84% when ATR (!RUD) is active; overridden to 100% when in ID2 mode**
- Max Throttle Allowed (regardless of ATR setting)
We will assume that we are still in Startup mode. Normal start-up mode requires !RUD, and !THR to be selected. This ensures ATR and throttle limits will be engaged. Anytime ATR is active the throttle will be limited to 84%. **UNLESS THR is selected; which allows 100%. Assuming !THR is selected: This ATR active 84% throttle limit will override the !THR throttle limit of 76%. The ATR throttle limit does override !THR 76% limit, but does not override the THR 100% master limit.**
At this point the TX is in Startup / ATR mode with an 84% throttle limit and steering that reduces as speed increases. By switching off ATR, you will gain the ability to steer the car 100% lock to lock. Due to the instability this will cause, the Throttle will now be limited to 76%. (again we are still in !THR mode) If the user feels they would like the 100% throttle, they can simply switch to THR.
**the AIL setting ( bias settings) does not affect the throttle limits in any way. This, however, may be changed in a later version.**
Examples (switch settings)
!RUD / !THR --- ATR active - throttle limited to 84%
RUD / !THR --- ATR Disabled- throttle Limited to 76%
!RUD / THR --- ATR active - throttle limit = 100%
RUD / THR --- ATR Disabled - Throttle limit 100%
ID2 ---- Throttle limit 100% regardless of any other settings.
**Each switch and the function built into it is completely independent of the other switches with a few exceptions.***
1) When ATR is activated, steering bias is not functional regardless of AIL switch position, or Elevator Control stick Position. Car will steer with all 4 wheels at 1:1 bias whenever ATR is engaged.
2) when in ID2 mode All ATR, Lane Jump, Throttle limts, and rear steering are cut off or overridden
3) any time ATR is on, the throttle will be limited to 84% unless THR is switched on. THR is the override to Force 100% throttle regardless of mode.
and here is the latest version... btw.. i dont expect you guys to read all this.. this is more so that anyone who comes behind me to work on this car will have a record of how things work.. lol.