test current graph output
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649daaa25e
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3becfe30b1
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@ -20,6 +20,9 @@ int16_t out_speedRR=0;
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unsigned long last_send = 0;
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unsigned long last_receive = 0;
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float avg_currentL=0;
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float avg_currentR=0;
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// Global variables for serial communication
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typedef struct{
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@ -168,6 +171,7 @@ void loop() {
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if (newData) {
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float _current = (FeedbackFront.curL_DC+FeedbackFront.curR_DC)/2.0 / 50;
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/*
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Serial.print(FeedbackFront.curL_DC); Serial.print(", ");
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Serial.print(FeedbackFront.curR_DC); Serial.print(", ");
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@ -176,17 +180,24 @@ void loop() {
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Serial.print(FeedbackFront.cmd1); Serial.print(", ");
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Serial.print(FeedbackFront.cmd2); Serial.print(", ");
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Serial.println();
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*/
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#define CURRENTFILTER 0.95
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avg_currentL=avg_currentL*CURRENTFILTER+FeedbackFront.curL_DC*(1-CURRENTFILTER);
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avg_currentR=avg_currentR*CURRENTFILTER+FeedbackFront.curR_DC*(1-CURRENTFILTER);
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}
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if (loopmillis - last_send > SENDPERIOD) {
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last_send=loopmillis;
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uint16_t throttle_raw = analogRead(PIN_THROTTLE);
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Serial.print("Analog: "); Serial.print(throttle_raw);
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out_speedFL=max(0,min(1000,map(throttle_raw,calib_throttle_min,calib_throttle_max,0,1000)));
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//Serial.print("Analog: "); Serial.print(throttle_raw);
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out_speedFR=max(0,min(1000,map(throttle_raw,calib_throttle_min,calib_throttle_max,0,1000)));
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Serial.print(", Send: "); Serial.println(out_speedFL);
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//Serial.print(", Send: "); Serial.println(out_speedFL);
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SendSerial(CommandFront,out_speedFL,out_speedFR,Serial2);
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Serial.print(out_speedFL); Serial.print(", "); Serial.print(out_speedFR); Serial.print(", "); Serial.print(avg_currentR); Serial.print(", "); Serial.println(avg_currentL);
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}
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}
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