Diff: main.cpp

Revision:

194:05e119bc5a78

Parent:

193:3abadeecf908

Child:

195:b61a734eb50c

--- a/main.cpp	Sat Feb 10 05:35:49 2018 +0000
+++ b/main.cpp	Sat Feb 10 06:05:50 2018 +0000
@@ -14,6 +14,7 @@
 #include "BREMSStructs.h"
 #include "BREMSConfig.h"
 
+#include "prefs.h"
 #include "layout.h"
 #include "derived.h"
 #include "main.h"
@@ -118,10 +119,25 @@
 }
 
 void slow_loop() {
-    float x = io.throttle_in->get_throttle();
-    x = control.throttle_filter->update(x);
-    control.user_cmd = io.throttle_in->get_usecs();
-    control.torque_percent = th->map(x, read.w);
+    switch (BREMS_src) {
+    case CMD_SRC_RC:
+        control.user_cmd = control.throttle_filter->update(io.throttle_in->get_throttle());
+        break;
+    case CMD_SRC_ANALOG:
+        //handle analog throttle here
+        break;
+    case CMD_SRC_TERMINAL:
+    case CMD_SRC_SERIAL:
+    case CMD_SRC_CAN:
+    case CMD_SRC_INTERNAL:
+        //these sources are updated by callbacks
+        break;
+    default:
+        //this should never happen!
+        break;
+    }
+
+    control.torque_percent = th->map(control.user_cmd, read.w);
     dq->map(control.torque_percent, read.w, &control.d_ref, &control.q_ref);
 }