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Fix momentum algorithm

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This commit is contained in:
Asbelos 2024-07-21 10:15:07 +01:00
parent 916d3baf63
commit 854ddb0c6c
1 changed files with 23 additions and 13 deletions
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28
DCC.cpp
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@ -795,7 +795,8 @@ byte dccalize(int16_t speed) {
if (speed>127) return 0xFF; // 127 forward if (speed>127) return 0xFF; // 127 forward
if (speed<-127) return 0x7F; // 127 reverse if (speed<-127) return 0x7F; // 127 reverse
if (speed >=0) return speed | 0x80; if (speed >=0) return speed | 0x80;
return 1 - speed; // negative speeds... -1==dcc 0, -2==dcc 1
return (int16_t)-1 - speed;
} }
bool DCC::issueReminder(int reg) { bool DCC::issueReminder(int reg) {
@ -804,22 +805,30 @@ bool DCC::issueReminder(int reg) {
byte flags=speedTable[reg].groupFlags; byte flags=speedTable[reg].groupFlags;
switch (loopStatus) { switch (loopStatus) {
case 0: case 0: {
// calculate any momentum change going on // calculate any momentum change going on
auto sc=speedTable[reg].speedCode;
if (speedTable[reg].targetSpeed!=speedTable[reg].speedCode) { if (speedTable[reg].targetSpeed!=speedTable[reg].speedCode) {
// calculate new speed code // calculate new speed code
auto now=millis(); auto now=millis();
auto delay=now-speedTable[reg].momentum_base; int16_t delay=now-speedTable[reg].momentum_base;
auto millisPerNotch=speedTable[reg].millis_per_notch; auto millisPerNotch=speedTable[reg].millis_per_notch;
if (millisPerNotch<0) millisPerNotch=defaultMomentum; if (millisPerNotch<0) millisPerNotch=defaultMomentum;
// allow for momentum change to 0 while accelerating/slowing
auto ticks=delay/millisPerNotch; auto ticks=(millisPerNotch>0)?(delay/millisPerNotch):500;
if (ticks>0) { if (ticks>0) {
auto sc=speedTable[reg].speedCode;
// DIAG(F("Momentum loco= %d ticks=%d sc=%d"),loco,ticks,sc);
auto current=normalize(sc); // -128..+127 auto current=normalize(sc); // -128..+127
auto target=normalize(speedTable[reg].targetSpeed); auto target=normalize(speedTable[reg].targetSpeed);
sc=dccalize(current + ((current<target)?ticks:-ticks)); // DIAG(F("Momentum l=%d t=%d sc=%d c=%d t=%d"),loco,ticks,sc,current,target);
if (current<target) { // accelerate
current+=ticks;
if (current>target) current=target;
}
else { // slow
current-=ticks;
if (current<target) current=target;
}
sc=dccalize(current);
// DIAG(F("c=%d t=%d newsc=%d"),current,target,sc); // DIAG(F("c=%d t=%d newsc=%d"),current,target,sc);
speedTable[reg].speedCode=sc; speedTable[reg].speedCode=sc;
TrackManager::setDCSignal(loco,sc); // in case this is a dcc track on this addr TrackManager::setDCSignal(loco,sc); // in case this is a dcc track on this addr
@ -827,7 +836,8 @@ bool DCC::issueReminder(int reg) {
} }
} }
// DIAG(F("Reminder %d speed %d"),loco,speedTable[reg].speedCode); // DIAG(F("Reminder %d speed %d"),loco,speedTable[reg].speedCode);
setThrottle2(loco, speedTable[reg].speedCode); setThrottle2(loco, sc);
}
break; break;
case 1: // remind function group 1 (F0-F4) case 1: // remind function group 1 (F0-F4)
if (flags & FN_GROUP_1) if (flags & FN_GROUP_1)