Recalibrated bottom sensor and wheel spun

hytech-racing · May 19, 2024 · c1710c2 · c1710c2
1 parent 04524b7
commit c1710c2
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Showing 2 changed files with 9 additions and 4 deletions.
diff --git a/include/MCU_rev15_defs.h b/include/MCU_rev15_defs.h
@@ -99,10 +99,10 @@ const float LOADCELL_RR_OFFSET = 23.761 / LOADCELL_RR_SCALE;
 
 // Steering parameters
 const float PRIMARY_STEERING_SENSE_OFFSET = 0.0; // units are degrees
-const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND = 812;
-const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND = 3179;
-const int SECONDARY_STEERING_SENSE_CENTER = 1970;
-const float STEERING_RANGE_DEGREES = 256.05f;
+const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND = 794;    // 812
+const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND = 3075;  // 3179
+const int SECONDARY_STEERING_SENSE_CENTER = 1960;           // 1970
+const float STEERING_RANGE_DEGREES = 253.0f;                // 256.05f;
 const float STEERING_IIR_ALPHA = 0.7f;  // shaves off around 1 deg of max discrepancy
 
 #endif /* __MCU15_H__ */
diff --git a/src/main.cpp b/src/main.cpp
@@ -359,6 +359,11 @@ void loop()
     {
         Serial.print("Steering system reported angle (deg): ");
         Serial.println(steering_system.getSteeringSystemData().angle);
+        Serial.print("Secondary sensor angle: ");
+        Serial.println(a1.get().conversions[MCU15_STEERING_CHANNEL].conversion);
+        Serial.print("Sensor divergence: ");
+        Serial.println(steering_system.getSteeringSystemData().angle - a1.get().conversions[MCU15_STEERING_CHANNEL].conversion);
+        Serial.println();
 
         Serial.println();
     }