From d3051560a1b362f4f905c25d6b924e38b2958076 Mon Sep 17 00:00:00 2001
From: tcfshcrw <48719709+tcfshcrw@users.noreply.github.com>
Date: Fri, 13 Sep 2024 04:49:24 +0800
Subject: [PATCH] update effect calculation

Update effect calculation from force to position.
apply on ABS, bite point, custom effects
---
 ESP32/src/Main.cpp | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

diff --git a/ESP32/src/Main.cpp b/ESP32/src/Main.cpp
index e545684c..07d7e19b 100644
--- a/ESP32/src/Main.cpp
+++ b/ESP32/src/Main.cpp
@@ -963,12 +963,12 @@ void pedalUpdateTask( void * pvParameters )
     // select control loop algo
     if (dap_config_st.payLoadPedalConfig_.control_strategy_b <= 1)
     {
-      Position_Next = MoveByPidStrategy(filteredReading, stepperPosFraction, stepper, &forceCurve, &dap_calculationVariables_st, &dap_config_st, effect_force, changeVelocity);
+      Position_Next = MoveByPidStrategy(filteredReading, stepperPosFraction, stepper, &forceCurve, &dap_calculationVariables_st, &dap_config_st, 0/*effect_force*/, changeVelocity);
     }
        
     if (dap_config_st.payLoadPedalConfig_.control_strategy_b == 2) 
     {
-      Position_Next = MoveByForceTargetingStrategy(filteredReading, stepper, &forceCurve, &dap_calculationVariables_st, &dap_config_st, effect_force, changeVelocity, d_phi_d_x, d_x_hor_d_phi);
+      Position_Next = MoveByForceTargetingStrategy(filteredReading, stepper, &forceCurve, &dap_calculationVariables_st, &dap_config_st, 0/*effect_force*/, changeVelocity, d_phi_d_x, d_x_hor_d_phi);
     }
 
 
@@ -995,8 +995,10 @@ void pedalUpdateTask( void * pvParameters )
     
   
     //Adding effects
+    int32_t Position_effect= effect_force/dap_calculationVariables_st.Force_Range*dap_calculationVariables_st.stepperPosRange;
     Position_Next +=_RPMOscillation.RPM_position_offset;
     Position_Next += absPosOffset;
+    Position_Next += Position_effect;
     Position_Next = (int32_t)constrain(Position_Next, dap_calculationVariables_st.stepperPosMinEndstop, dap_calculationVariables_st.stepperPosMaxEndstop);
     
     //bitepoint trigger