fix current reading and fix throttle premature failsafe
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8db5cbbac9
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@ -55,7 +55,7 @@ unsigned long loopmillis;
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#define BUTTONREADPERIOD 20
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unsigned long last_adsread=0; //needed for failcheck
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uint16_t throttle_raw=failsafe_throttle_min; //start at min so that failsafe is not triggered
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#define THROTTLE_ADC_FILTER 0.15 //higher value = faster response
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#define THROTTLE_ADC_FILTER 0.4 //higher value = faster response
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uint16_t brake_raw=failsafe_brake_min; //start at min so that failsafe is not triggered
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#define ADC_OUTOFRANGE_TIME 100
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unsigned long throttle_ok_time=0;
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@ -76,7 +76,7 @@ int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send i
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int16_t minimum_constant_cmd_reduce=1; //reduce cmd every loop by this constant amount when freewheeling/braking
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int16_t brake_cmdreduce_proportional=500; //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=brake_cmdreduce_proportional / second @ full brake. with BREAK_CMDREDUCE_CONSTANT=1000 car would stop with full brake at least after a second (ignoring influence of brake current control/freewheeling)
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float startbrakecurrent=2; //Ampere. "targeted brake current @full brake". at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor
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float startbrakecurrent_offset=0.15; //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
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float startbrakecurrent_offset=0.13; //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
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bool reverse_enabled=false;
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unsigned long last_notidle=0; //not rolling to fast, no pedal pressed
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@ -89,6 +89,7 @@ unsigned long last_notidle=0; //not rolling to fast, no pedal pressed
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#define PIN_MODE_LEDG 4
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#define PIN_MODE_LEDR 5
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#define PIN_FAN 6 //Output High=Fans on
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//unsigned long last_send = 0;
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@ -119,6 +119,20 @@ void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
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display.setCursor(SCREEN_WIDTH-25,SCREEN_HEIGHT-16);
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display.print("km/h");
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//A
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display.setCursor(SCREEN_WIDTH-30,1);
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static float averaged_filtered_currentAll;
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#define CURRENT_FILTER 0.95
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averaged_filtered_currentAll=averaged_filtered_currentAll*CURRENT_FILTER+(1-CURRENT_FILTER)*filtered_currentAll; //filter over time
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dtostrf(averaged_filtered_currentAll,1,2,buf);
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strbuf=buf;
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if (strbuf.length()<5) { //pad spaces on the left
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strbuf=" "+strbuf;
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}
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display.print(strbuf);
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display.print("A");
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//## Trip / Current Consumed Display
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display.setCursor(1,SCREEN_HEIGHT-7);
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@ -73,6 +73,9 @@ void setup()
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pinMode(PIN_START, INPUT_PULLUP); //Pressed=High
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pinMode(PIN_LED_START, OUTPUT); //Active High
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pinMode(PIN_FAN,OUTPUT);
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digitalWrite(PIN_FAN,HIGH); //Turn fan on during startup for debugging purposes
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//TODO: remove mode button things
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@ -125,6 +128,10 @@ void setup()
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led_simpeProgress(6,true);
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}
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delay(10);
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for (uint8_t i=0;i<4;i++){ //read all channels once to have adc readings ready in first loop (to prevent premature failsafe)
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readADS();
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delay(10);
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}
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setSyncProvider(getTeensy3Time); //See https://www.pjrc.com/teensy/td_libs_Time.html#teensy3
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@ -269,6 +276,32 @@ void loop() {
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last_display_update=loopmillis;
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display_update(escFront,escRear);
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}
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//Fan
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static unsigned long last_fan_update=0;
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#define FANUPDATEPERIOD 5000
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float fan_turn_on_temp=45;
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float fan_turn_off_temp=32;
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if (loopmillis - last_fan_update > FANUPDATEPERIOD) {
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last_fan_update=loopmillis;
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boolean fanstatus=digitalRead(PIN_FAN);
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float temp=max(escFront.getFeedback_boardTemp(),escRear.getFeedback_boardTemp());
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if (!escFront.getControllerConnected() || !escRear.getControllerConnected()) { //boards are not powered on
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digitalWrite(PIN_FAN,HIGH); //force fan on
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}else{ //if both controllers are on, use temperature regulation
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if (!fanstatus) { //fan is off
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if (temp>=fan_turn_on_temp){
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digitalWrite(PIN_FAN,HIGH);
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}
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}else{ //fan is on
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if (temp<=fan_turn_off_temp){
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digitalWrite(PIN_FAN,LOW);
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}
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}
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}
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}
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}
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@ -320,7 +353,7 @@ void readADC() {
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Serial.print(ads_throttle_B_raw); Serial.print('\t');
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Serial.print(ads_brake_raw); Serial.print('\t');
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Serial.print(ads_control_raw); Serial.println();*/
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throttle_raw = ads_throttle_A_raw*THROTTLE_ADC_FILTER + throttle_raw*(1-THROTTLE_ADC_FILTER); //apply filter
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throttle_raw = (ads_throttle_A_raw+ads_throttle_B_raw)/2.0*THROTTLE_ADC_FILTER + throttle_raw*(1-THROTTLE_ADC_FILTER); //apply filter
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//maps throttle curve to be linear
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throttle_pos=max(0,min(1000,linearizeThrottle(throttle_raw))); //map and constrain
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