Hey! I’m working on my track-based rover, and I’ve managed to slow it down by lowering the MOT_THR_MAX. But when I steer, the motors still go full throttle. Any ideas on how I can tone down the sensitivity for steering speed?
I tried writing LUA scripts to do signal mixing on my own, but they haven’t changed the output.
– Channel Mixing for Track-Based Rover with Throttle Control
– Define channel mappings
local throttle_channel = 3 – Throttle input channel
local steering_channel = 1 – Steering input channel
– Define RCIN output channels for left and right
local rc_in_left_channel = 8 – RCIN8 for left output
local rc_in_right_channel = 9 – RCIN9 for right output
– Define steering limit (adjust this value to change sensitivity)
local steering_limit = 0.5 – Limit steering effect (0.0 to 1.0)
– Mix the channels
function mix_channels()
– Get input values
local throttle_input = get_pwm(throttle_channel) – Read throttle input
local steering_input = get_pwm(steering_channel) – Read steering input
-- Scale the steering input to limit its effect
local scaled_steering = steering_input * steering_limit
-- Calculate left and right motor outputs based on throttle input
local left_output = throttle_input + scaled_steering
local right_output = throttle_input - scaled_steering
-- Ensure outputs are within PWM limits (1000 to 2000)
left_output = math.max(1000, math.min(2000, left_output))
right_output = math.max(1000, math.min(2000, right_output))
-- Print PWM values for debugging
gcs:send_text(6, "Left Output: " .. left_output .. " Right Output: " .. right_output)
-- Set RCIN outputs
local RC8 = rc:get_channel(8)
local RC9 = rc:get_channel(9)
RC8:set_pwm(left_output)
RC9:set_pwm(right_output)
end
– Loop to continuously mix channels
function update()
mix_channels()
end
I mapped servo1 and servo2 to RCIN8 and 9 respectively. can someone help me out, or suggest different ways?