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add currentConsumed log value

This commit is contained in:
interfisch 2021-05-28 20:43:02 +02:00
parent b96c3bcc19
commit 88da7752f3
1 changed files with 14 additions and 12 deletions
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26
controller_teensy/src/main.cpp
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@ -57,12 +57,12 @@ unsigned long brake_ok_time=0;
bool error_throttle_outofrange=false; bool error_throttle_outofrange=false;
bool error_brake_outofrange=false; bool error_brake_outofrange=false;
unsigned long last_feedback=0; //time millis at last feedback receive
float meanSpeedms=0; float meanSpeedms=0;
float trip=0; //trip distance in meters float trip=0; //trip distance in meters
float wheelcircumference=0.5278; //wheel diameter in m. 8.4cm radius -> 0.084m*2*Pi float wheelcircumference=0.5278; //wheel diameter in m. 8.4cm radius -> 0.084m*2*Pi
float currentConsumed=0; //Ah
#define PIN_START A9 #define PIN_START A9
@ -293,14 +293,6 @@ void loop() {
updateMotorparams(motorparamsRear,FeedbackRear); updateMotorparams(motorparamsRear,FeedbackRear);
} }
if (newData2 || newData3) { //when new data arrived from one controller
float _meanRPM=FeedbackFront.speedL_meas-FeedbackFront.speedR_meas+FeedbackRear.speedL_meas-FeedbackRear.speedR_meas;
meanSpeedms=_meanRPM*wheelcircumference/60.0; // Units: 1/min * m / 60s
trip+=abs(meanSpeedms)* (millis()-last_feedback) / 1000.0;
last_feedback=millis();
}
if (loopmillis - last_adcread > ADCREADPERIOD) { //read teensy adc and filter if (loopmillis - last_adcread > ADCREADPERIOD) { //read teensy adc and filter
last_adcread=loopmillis; last_adcread=loopmillis;
readADC(); readADC();
@ -314,6 +306,14 @@ void loop() {
if (loopmillis - last_send > SENDPERIOD) { //Calculate motor stuff and send to motor controllers if (loopmillis - last_send > SENDPERIOD) { //Calculate motor stuff and send to motor controllers
last_send=loopmillis; last_send=loopmillis;
sendCMD(); sendCMD();
//Update speed and trip
float _meanRPM=FeedbackFront.speedL_meas-FeedbackFront.speedR_meas+FeedbackRear.speedL_meas-FeedbackRear.speedR_meas;
meanSpeedms=_meanRPM*wheelcircumference/60.0; // Units: 1/min * m / 60s
trip+=abs(meanSpeedms)* (SENDPERIOD/1000.0);
//mah consumed
currentConsumed += filtered_currentAll* (SENDPERIOD/1000.0)/3600.0; //amp hours
} }
//If needed write log to serial port //If needed write log to serial port
@ -358,7 +358,7 @@ void writeLogHeader(HardwareSerial &SerialRef) {
SerialRef.print("current_FrontL,current_FrontR,current_RearL,current_RearR,"); SerialRef.print("current_FrontL,current_FrontR,current_RearL,current_RearR,");
SerialRef.print("rpm_FrontL,rpm_FrontR,rpm_RearL,rpm_RearR,"); SerialRef.print("rpm_FrontL,rpm_FrontR,rpm_RearL,rpm_RearR,");
SerialRef.print("temp_Front,temp_Rear,vbat_Front,vbat_Rear,"); SerialRef.print("temp_Front,temp_Rear,vbat_Front,vbat_Rear,");
SerialRef.println("currentAll,throttle,brake,speed,trip"); SerialRef.println("currentAll,throttle,brake,speed,trip,currentConsumed");
} }
void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpfront, MotorParameter &mprear, SerialFeedback &fbfront, SerialFeedback &fbrear, float currentAll, int16_t throttle, int16_t brake) void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpfront, MotorParameter &mprear, SerialFeedback &fbfront, SerialFeedback &fbrear, float currentAll, int16_t throttle, int16_t brake)
@ -388,7 +388,9 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
SerialRef.print(throttle); SerialRef.print(","); SerialRef.print(throttle); SerialRef.print(",");
SerialRef.print(brake); SerialRef.print(","); SerialRef.print(brake); SerialRef.print(",");
SerialRef.print(meanSpeedms); SerialRef.print(","); // m/s SerialRef.print(meanSpeedms); SerialRef.print(","); // m/s
SerialRef.print(trip); SerialRef.println(); //in m SerialRef.print(trip); SerialRef.print(","); //in m
SerialRef.print(currentConsumed); SerialRef.println(); //in Ah (Amphours)
} }
void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg) void writeLogComment(HardwareSerial &SerialRef, unsigned long time, String msg)