cleanup/simplify motor code, bugfix line tracker memory leak

Ardumower · Oct 7, 2022 · c6e8043 · c6e8043
1 parent 5f8aa1d
commit c6e8043
Showing 1 changed file with 0 additions and 21 deletions.
diff --git a/sunray/config_example.h b/sunray/config_example.h
@@ -167,19 +167,6 @@ Also, you may choose the serial port below for serial monitor output (CONSOLE).
 //#define MOTOR_LEFT_SWAP_DIRECTION 1  // uncomment to swap left motor direction
 //#define MOTOR_RIGHT_SWAP_DIRECTION 1  // uncomment to swap right motor direction
 
-// ------------ dynamic gear motors speed ----------------
-// speed will be adjusted by the mowing motor current. If USE_MOWMOTOR_CURRENT_AVERAGE is set to false, the Speed 
-// will be changed if the mow Current is lower or higher than MOWMOTOR_CURRENT_FACTOR * MOW_OVERLOAD_CURRENT.
-// If USE_MOWMOTOR_CURRENT_AVERAGE is set to true the algorithm will detect the current at the middle PWM of the mowMotor.
-// The mowing average will be calculate over 10000 loops and start at MOWMOTOR_CURRENT_FACTOR.
-#define ENABLE_DYNAMIC_MOWER_SPEED false
-#define SPEED_ACCELERATION 0.005 // Speed factor will be changed with every programm loop 
-
-#define SPEED_FACTOR_MAX 1.2
-#define SPEED_FACTOR_MIN 0.5
-#define USE_MOWMOTOR_CURRENT_AVERAGE true
-#define MOWMOTOR_CURRENT_FACTOR 0.25
-
 
 // ----- mowing motor -------------------------------------------------
 // NOTE: motor drivers will indicate 'fault' signal if motor current (e.g. due to a stall on a molehole) or temperature is too high for a 
@@ -207,14 +194,6 @@ Also, you may choose the serial port below for serial monitor output (CONSOLE).
 // should the robot trigger obstacle avoidance on motor errors if motor recovery failed?
 #define ENABLE_FAULT_OBSTACLE_AVOIDANCE true  
 
-// ----------- dynamic mowingm motor RPM --------------
-// RPM of the mow motor will be adjust over the actual current of the mow motor. If the motor needs more current the PWM will be higher.
-// it can be used 3 different functions for the calculation of the PWM depended´nt on the mowMotor current. The root-Function is recommended
-#define ENABLE_DYNAMIC_MOWMOTOR false // set true to activate, set false to deactivate
-#define DYNAMIC_MOWMOTOR_ALGORITHM 2 // 1 - linear; 2 - root-Function; 3 - square-Function
-#define MIN_MOW_RPM 170   //minimum value of mow RPM
-#define MAX_MOW_RPM 255   // maximum value is 255
-
 
 // ------ WIFI module (ESP8266 ESP-01 with ESP firmware 2.2.1) --------------------------------
 // NOTE: all settings (maps, absolute position source etc.) are stored in your phone - when using another