fix current reading and fix throttle premature failsafe

controller_teensy/include/definitions.h

@@ -55,7 +55,7 @@ unsigned long loopmillis;
 #define BUTTONREADPERIOD 20
 unsigned long last_adsread=0; //needed for failcheck
 uint16_t throttle_raw=failsafe_throttle_min;  //start at min so that failsafe is not triggered
-#define THROTTLE_ADC_FILTER 0.15 //higher value = faster response
+#define THROTTLE_ADC_FILTER 0.4 //higher value = faster response
 uint16_t brake_raw=failsafe_brake_min;  //start at min so that failsafe is not triggered
 #define ADC_OUTOFRANGE_TIME 100
 unsigned long throttle_ok_time=0;
@@ -76,7 +76,7 @@ int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send i
 int16_t minimum_constant_cmd_reduce=1; //reduce cmd every loop by this constant amount when freewheeling/braking
 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)
 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
-float startbrakecurrent_offset=0.15; //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
+float startbrakecurrent_offset=0.13; //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
 
 bool reverse_enabled=false;
 unsigned long last_notidle=0; //not rolling to fast, no pedal pressed
@@ -89,6 +89,7 @@ unsigned long last_notidle=0; //not rolling to fast, no pedal pressed
 #define PIN_MODE_LEDG 4
 #define PIN_MODE_LEDR 5
 
+#define PIN_FAN 6 //Output High=Fans on
 
 
 //unsigned long last_send = 0;

controller_teensy/include/display.h

@@ -119,6 +119,20 @@ void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
   display.setCursor(SCREEN_WIDTH-25,SCREEN_HEIGHT-16);
   display.print("km/h");
 
+  //A
+
+  display.setCursor(SCREEN_WIDTH-30,1);
+  static float averaged_filtered_currentAll;
+  #define CURRENT_FILTER 0.95
+  averaged_filtered_currentAll=averaged_filtered_currentAll*CURRENT_FILTER+(1-CURRENT_FILTER)*filtered_currentAll; //filter over time
+  dtostrf(averaged_filtered_currentAll,1,2,buf);
+  strbuf=buf;
+  if (strbuf.length()<5) { //pad spaces on the left
+    strbuf=" "+strbuf;
+  }
+  display.print(strbuf);
+  display.print("A");
+
   
   //## Trip / Current Consumed Display
   display.setCursor(1,SCREEN_HEIGHT-7);

controller_teensy/src/main.cpp

@@ -74,6 +74,9 @@ void setup()
 
   pinMode(PIN_LED_START, OUTPUT); //Active High
 
+  pinMode(PIN_FAN,OUTPUT);
+  digitalWrite(PIN_FAN,HIGH); //Turn fan on during startup for debugging purposes
+  
 
   //TODO: remove mode button things
   pinMode(PIN_MODE_LEDG, OUTPUT); //Active Low
@@ -125,6 +128,10 @@ void setup()
     led_simpeProgress(6,true);
   }
   delay(10);
+  for (uint8_t i=0;i<4;i++){ //read all channels once to have adc readings ready in first loop (to prevent premature failsafe)
+    readADS();
+    delay(10);
+  }
   
 
   setSyncProvider(getTeensy3Time); //See https://www.pjrc.com/teensy/td_libs_Time.html#teensy3
@@ -269,6 +276,32 @@ void loop() {
     last_display_update=loopmillis;
     display_update(escFront,escRear);
   }
+
+  //Fan
+  static unsigned long last_fan_update=0;
+  #define FANUPDATEPERIOD 5000
+  float fan_turn_on_temp=45;
+  float fan_turn_off_temp=32;
+  if (loopmillis - last_fan_update > FANUPDATEPERIOD) {
+    last_fan_update=loopmillis;
+    boolean fanstatus=digitalRead(PIN_FAN);
+    float temp=max(escFront.getFeedback_boardTemp(),escRear.getFeedback_boardTemp());
+    if (!escFront.getControllerConnected() || !escRear.getControllerConnected()) { //boards are not powered on
+      digitalWrite(PIN_FAN,HIGH); //force fan on
+    }else{ //if both controllers are on, use temperature regulation      
+      if (!fanstatus) { //fan is off
+        if (temp>=fan_turn_on_temp){
+          digitalWrite(PIN_FAN,HIGH);
+        }
+      }else{ //fan is on
+        if (temp<=fan_turn_off_temp){
+          digitalWrite(PIN_FAN,LOW);
+        }
+      }
+    }
+    
+  }
+
 }
 
 
@@ -320,7 +353,7 @@ void readADC() {
   Serial.print(ads_throttle_B_raw); Serial.print('\t'); 
   Serial.print(ads_brake_raw); Serial.print('\t'); 
   Serial.print(ads_control_raw); Serial.println();*/
-  throttle_raw = ads_throttle_A_raw*THROTTLE_ADC_FILTER + throttle_raw*(1-THROTTLE_ADC_FILTER); //apply filter
+  throttle_raw = (ads_throttle_A_raw+ads_throttle_B_raw)/2.0*THROTTLE_ADC_FILTER + throttle_raw*(1-THROTTLE_ADC_FILTER); //apply filter
 
   //maps throttle curve to be linear
   throttle_pos=max(0,min(1000,linearizeThrottle(throttle_raw))); //map and constrain