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