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latest 3lb code fixes #2

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latest 3lb code fixes #2

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f41345e
Fix 1 more missed config def swap
Tedster59 Jun 18, 2026
8940b99
latest 3lb settings
Tedster59 Jun 18, 2026
fe30795
Merge remote-tracking branch 'upstream/main'
Tedster59 Jun 18, 2026
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10 changes: 5 additions & 5 deletions src/donut_3lb_config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -29,7 +29,7 @@
#define ACCEL_MOUNT_RADIUS_CM 0 // this being 0 prevents accel_offset from going negative in 3lb mode

// this value will need to be tuned to a good speed - Cai
#define HEADING_CONTROL_SENSITIVITY 0.01 // tunes how fast the heading led moves left or right
#define HEADING_CONTROL_SENSITIVITY 0.05 // tunes how fast the heading led moves left or right

#define ACCEL_1_X_OFFSET -7
#define ACCEL_1_Y_OFFSET -5
Expand All @@ -38,25 +38,25 @@
#define ACCEL_2_Y_OFFSET -5


#define THROTTLE_PC_P 1 // was 0.5 for working translation test with 1lb on 4/29/26 - Cai
#define THROTTLE_PC_P 1.5 // was 0.5 for working translation test with 1lb on 4/29/26 - Cai

// CAN_ADJUST_ACCEL_MOUNT_RADIUS is defined here so you can use the
// left_stick_x to adjust the get_rpm_2accel RPM reading by a constant factor
#define CAN_ADJUST_ACCEL_MOUNT_RADIUS
#define ACCEL_OFFSET_SENSITIVITY 0.0001
#define ACCEL_OFFSET_SENSITIVITY 0.005

#define MOTOR_ON_PERCENT_DURATION 0.5 // This might technically be a half of a half - Cai (I still have no idea what this comment means - also Cai)
#define MIN_TRANSLATION_RPM 400

#define LED_OFFSET_PERCENT 0.25
#define LED_OFFSET_PERCENT 0.5
#define MIN_LED_PERCENT_DURATION 0.25
#define MAX_LED_PERCENT_DURATION 0.5

// MELTY_MAX_TRANSLATION_AGGRESSION is a number from 0..1 which represents how different
// the throttle sent to each motor can be during a half-rotation
// 1 = very different
// 0 = can't differ at all
#define MELTY_MAX_TRANSLATION_AGGRESSION 0.75
#define MELTY_MAX_TRANSLATION_AGGRESSION 0.65
#define MELTY_MAX_THROTTLE 1

#define TANK_DRIVE_MAX_THROTTLE 0.125
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8 changes: 4 additions & 4 deletions src/donut_accel.c
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Original file line number Diff line number Diff line change
Expand Up @@ -110,11 +110,11 @@ double get_rpm_2accel(double right_x_percent, double accel_offset_cm) {


// Position vectors of the accelerometers (in cm)
Accel1Position.x = 1.0 * 1.0/sqrtf(2.0);
Accel1Position.y = 1.0 * 1.0/sqrtf(2.0);
Accel1Position.x = 1.025 * 1.0/sqrtf(2.0);
Accel1Position.y = 1.025 * 1.0/sqrtf(2.0);

Accel2Position.x = -1.0 * 1.0/sqrtf(2.0);
Accel2Position.y = -1.0 * 1.0/sqrtf(2.0);
Accel2Position.x = -1.025 * 1.0/sqrtf(2.0);
Accel2Position.y = -1.025 * 1.0/sqrtf(2.0);


// omega = sqrt [ ||(a1 - a2)|| / ||(r2 - r1)|| ]
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