more display infos and led ring updates
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@ -75,8 +75,8 @@ int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send i
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//Driving parameters
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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=3; //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=0.07; //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
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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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bool reverse_enabled=false;
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unsigned long last_notidle=0; //not rolling to fast, no pedal pressed
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@ -96,6 +96,13 @@ unsigned long last_notidle=0; //not rolling to fast, no pedal pressed
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float filtered_currentAll=0;
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//Statistics values
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float max_filtered_currentAll;
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float min_filtered_currentAll;
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float max_meanSpeed;
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int16_t cmd_send=0;
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int16_t last_cmd_send=0;
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@ -19,7 +19,7 @@ bool display_init();
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void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear);
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void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
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void display_standingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
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void display_standingOffDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
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void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
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void display_debugDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear);
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@ -51,8 +51,32 @@ void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear){
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display.print(F(" / ")); display.println(escRear.getFeedback_batVoltage());
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*/
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if ( (error_brake_outofrange || error_throttle_outofrange || error_ads_max_read_interval ) && ((loopmillis/2000)%2==0)) {
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//Error Messages
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if (escFront.getControllerConnected() && escRear.getControllerConnected()) {
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display.setFont();
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display.setTextSize(1); // Normal 1:1 pixel scale
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display.setTextColor(SSD1306_WHITE); // Draw white text
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display.setCursor(0,0); // Start at top-left corner
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display.print(F("Error!"));
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display.println();
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String errorstring="";
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if (error_brake_outofrange) {
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errorstring+="brake_outofrange\n";
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}
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if (error_throttle_outofrange) {
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errorstring+="throttle_outofrange\n";
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}
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if (error_ads_max_read_interval) {
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errorstring+="ads_max_read_interval\n";
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}
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display.print(errorstring);
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}else{
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//Normal Display Routinges here
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if (armed) {
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if (loopmillis-last_notidle>5000) {
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display_standingDisplay(escFront,escRear);
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}else{
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@ -61,7 +85,8 @@ void display_update(ESCSerialComm& escFront, ESCSerialComm& escRear){
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}
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}else{
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display_standingOffDisplay(escFront,escRear);
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display_standingDisarmedDisplay(escFront,escRear);
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}
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}
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@ -100,22 +125,19 @@ void display_drivingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
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if (((millis()/2500)%2)==0) {
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//## Trip
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dtostrf(escFront.getTrip(),1,0,buf);
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display.print((String)buf);
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display.print("m + ");
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dtostrf(escRear.getTrip(),1,0,buf);
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dtostrf(max_meanSpeed*3.6,1,0,buf);
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display.print((String)buf);
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display.print("m");
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display.print("km/h");
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}else{
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//## Current Consumed
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dtostrf(escFront.getCurrentConsumed(),1,1,buf);
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dtostrf(min_filtered_currentAll,1,1,buf);
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display.print((String)buf);
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display.print("Ah + ");
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display.print("A / ");
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dtostrf(escRear.getCurrentConsumed(),1,1,buf);
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dtostrf(max_filtered_currentAll,1,1,buf);
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display.print((String)buf);
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display.print("Ah");
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display.print("A");
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}
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@ -145,6 +167,11 @@ void display_standingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
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display.print(" V");
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display.println();
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display.print(F("Temp: ")); display.print(escFront.getFeedback_boardTemp());
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display.print(F("/")); display.print(escRear.getFeedback_boardTemp());
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display.print(" C");
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display.println();
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display.print(F("Trip: "));
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dtostrf(escFront.getTrip(),1,0,buf);
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display.print((String)buf);
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@ -155,18 +182,14 @@ void display_standingDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
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display.println();
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display.print(F("Cons. "));
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dtostrf(escFront.getCurrentConsumed(),1,2,buf);
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dtostrf(escFront.getCurrentConsumed()+escRear.getCurrentConsumed(),1,2,buf);
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display.print((String)buf);
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display.print("/");
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dtostrf(escRear.getCurrentConsumed(),1,2,buf);
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display.print((String)buf);
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display.print(" Ah");
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display.println();
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}
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void display_standingOffDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
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void display_standingDisarmedDisplay(ESCSerialComm& escFront, ESCSerialComm& escRear) {
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//Displayed stuff here when escs are powered off / disconnected
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char buf[8];
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display.setFont();
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@ -2,6 +2,18 @@
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#define _LED_H_
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//LED Ring Positions
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/*
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3 2 1
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4 0
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5 15
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6 14
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7 13
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8 12
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9 10 11
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*/
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#include <Adafruit_NeoPixel.h>
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@ -20,7 +32,7 @@ unsigned long last_ledupdate=0;
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uint8_t led_errorcount=0; //count led progress errors. used for delay at end if any errors occured
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void led_dotcircle(unsigned long loopmillis);
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void led_voltage(unsigned long loopmillis,float vbat,float vbat_min,float vbat_max);
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void led_gauge(unsigned long loopmillis,float value,float value_min,float value_max,uint32_t colorGauge,uint32_t colorBG);
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void init_led() {
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strip.begin(); // INITIALIZE NeoPixel strip object (REQUIRED)
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@ -89,39 +101,73 @@ void led_update(unsigned long loopmillis,ESCSerialComm& escFront, ESCSerialComm&
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if (loopmillis>last_ledupdate+LEDUPDATEINTERVAL) {
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last_ledupdate=loopmillis;
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float vbat=min(escRear.getFeedback_batVoltage(),escFront.getFeedback_batVoltage());
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//led_dotcircle(loopmillis);
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led_voltage(loopmillis,vbat,3*12,4.2*12);
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if (error_brake_outofrange || error_throttle_outofrange || error_ads_max_read_interval) {
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//Error
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}else{
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if (armed) {
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if (loopmillis-last_notidle>5000) {
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//Standing
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float vbat=min(escRear.getFeedback_batVoltage(),escFront.getFeedback_batVoltage());
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led_gauge(loopmillis,vbat,3*12,4.2*12,strip.Color(0, 255, 0, 0),strip.Color(100, 0, 0, 0));
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}else{
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//Driving
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float currentMean=escRear.getFiltered_curL()+escRear.getFiltered_curR()+escFront.getFiltered_curL()+escFront.getFiltered_curR();
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led_gauge(loopmillis,currentMean,0,16.0,strip.Color(0, 0, 0, 255),strip.Color(0, 0, 20, 0));
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}
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}else{
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//Disarmed
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led_dotcircle(loopmillis); //fill background with animation
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uint32_t colorConnected=strip.Color(0, 255, 0, 0);
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if (escFront.getControllerConnected()) {
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for(int i=1; i<=3; i++) {
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strip.setPixelColor(i, colorConnected);
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}
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}
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if (escRear.getControllerConnected()) {
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for(int i=1+8; i<=3+8; i++) {
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strip.setPixelColor(i, colorConnected);
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}
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}
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}
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}
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strip.show(); // Update strip to match
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}
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}
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void led_voltage(unsigned long loopmillis,float vbat,float vbat_min,float vbat_max) {
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uint32_t colorBG=strip.Color(0, 255, 0, 0);
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uint32_t colorEmpty=strip.Color(255, 0, 0, 0);
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uint8_t position=map( max(min(vbat,vbat_max),vbat_min) ,vbat_min,vbat_max, 0,strip.numPixels()+1);
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void led_gauge(unsigned long loopmillis,float value,float value_min,float value_max,uint32_t colorGauge,uint32_t colorBG) {
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uint8_t position=map( max(min(value,value_max),value_min) ,value_min,value_max, 0,strip.numPixels()+1);
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for(int i=0; i<strip.numPixels(); i++) { // For each pixel in strip...
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uint8_t pp=(strip.numPixels()-i-1 + 10 )%strip.numPixels(); //Offset and invert
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if (i<position) {
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strip.setPixelColor(pp, colorBG); // Set pixel's color (in RAM)
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strip.setPixelColor(pp, colorGauge); // Set pixel's color (in RAM)
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}else{
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strip.setPixelColor(pp, colorEmpty); // Set pixel's color (in RAM)
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strip.setPixelColor(pp, colorBG); // Set pixel's color (in RAM)
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}
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}
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}
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void led_dotcircle(unsigned long loopmillis) {
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uint32_t color=strip.Color(0, 0, 0, 255);
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uint32_t colorOff=strip.Color(30, 0, 0, 0);
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uint8_t position=(loopmillis/100)%strip.numPixels();
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for(int i=0; i<strip.numPixels(); i++) { // For each pixel in strip...
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if (i==position) {
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strip.setPixelColor(i, color); // Set pixel's color (in RAM)
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}else{
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strip.setPixelColor(i, colorOff); // Set pixel's color (in RAM)
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float position=(loopmillis/1000.0*strip.numPixels()/10.0);
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while (position>strip.numPixels()){ //modulo for float
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position-=strip.numPixels();
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}
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for(int i=0; i<strip.numPixels(); i++) { // For each pixel in strip...
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float _bright=min(abs(i-position),strip.numPixels()-abs(i-position));
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_bright/=strip.numPixels()/2.0; //1 if position is at i, 0 if position is oposite of i in circle
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_bright=pow(_bright,2);
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uint32_t color=strip.Color(0, 0, 0, _bright*255);
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strip.setPixelColor(i, color); // Set pixel's color (in RAM)
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}
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}
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@ -225,6 +225,17 @@ void loop() {
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unsigned long _timediff=loopmillis-last_calculateSetSpeed;
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last_calculateSetSpeed=loopmillis;
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calculateSetSpeed(_timediff);
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//Update Statistics
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max_filtered_currentAll=max(max_filtered_currentAll,filtered_currentAll);
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min_filtered_currentAll=min(min_filtered_currentAll,filtered_currentAll);
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max_meanSpeed=max(max_meanSpeed,(escFront.getMeanSpeed()+escRear.getMeanSpeed())/2);
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if (!armed) { //reset statistics if disarmed
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max_filtered_currentAll=0;
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min_filtered_currentAll=0;
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max_meanSpeed=0;
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}
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}
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escFront.update(loopmillis);
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@ -400,7 +411,6 @@ void failChecks() {
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if (!error_throttle_outofrange) {
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error_throttle_outofrange=true;
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writeLogComment(loopmillis, "Error Throttle ADC Out of Range");
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}
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//Serial.print("Error Throttle ADC Out of Range="); Serial.println(throttle_raw);
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}
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@ -445,7 +455,8 @@ void calculateSetSpeed(unsigned long timediff){
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float filtered_currentFront=max(escFront.getFiltered_curL(),escFront.getFiltered_curR());
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float filtered_currentRear=max(escRear.getFiltered_curL(),escRear.getFiltered_curR());
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filtered_currentAll=max(filtered_currentFront,filtered_currentRear); //positive value is current Drawn from battery. negative value is braking current
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filtered_currentAll=filtered_currentFront+filtered_currentRear; //positive value is current Drawn from battery. negative value is braking current
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if (throttle_pos>=last_cmd_send) { //accelerating
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cmd_send += constrain(throttle_pos-cmd_send,0,(int16_t)(max_acceleration_rate*(timediff/1000.0)) ); //if throttle higher than last applied value, apply throttle directly
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@ -633,8 +644,13 @@ void readButtons() {
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writeLogComment(loopmillis, "Disarmed by button");
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}
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if (button_start_longpress_flag) {
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if (escFront.getControllerConnected() && escRear.getControllerConnected()) {
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armed=true; //arm if button pressed long enough
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writeLogComment(loopmillis, "Armed by button");
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}else{
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writeLogComment(loopmillis, "Unable to arm");
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}
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}
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/* TODO: if works, remove this
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