fix wrong consumed current. increase current filter
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@ -151,8 +151,8 @@ SerialFeedback NewFeedbackFront;
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SerialFeedback FeedbackRear;
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SerialFeedback NewFeedbackRear;
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#define CURRENT_FILTER_SIZE 40 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller)
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#define CURRENT_MEANVALUECOUNT 10 //0<= meanvaluecount < CURRENT_FILTER_SIZE/2. how many values will be used from sorted weight array from the center region. abour double this values reading are used
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#define CURRENT_FILTER_SIZE 60 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller)
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#define CURRENT_MEANVALUECOUNT 20 //0<= meanvaluecount < CURRENT_FILTER_SIZE/2. how many values will be used from sorted weight array from the center region. abour double this values reading are used
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typedef struct{
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int16_t curL_DC[CURRENT_FILTER_SIZE] = {0}; //current will be inverted for this so positive value means consumed current
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int16_t curR_DC[CURRENT_FILTER_SIZE] = {0};
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@ -328,7 +328,7 @@ void loop() {
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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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currentConsumed += (motorparamsFront.filtered_curL+motorparamsFront.filtered_curR+motorparamsRear.filtered_curL+motorparamsRear.filtered_curR)* (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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@ -384,7 +384,7 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
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SerialRef.print(mprear.cmdL); SerialRef.print(",");
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SerialRef.print(mprear.cmdR); SerialRef.print(",");
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SerialRef.print(mpfront.filtered_curL,3); SerialRef.print(","); //invert. positive current is drive current
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SerialRef.print(mpfront.filtered_curL,3); SerialRef.print(",");
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SerialRef.print(mpfront.filtered_curR,3); SerialRef.print(",");
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SerialRef.print(mprear.filtered_curL,3); SerialRef.print(",");
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SerialRef.print(mprear.filtered_curR,3); SerialRef.print(",");
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@ -399,7 +399,7 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
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SerialRef.print(fbfront.batVoltage/100.0); SerialRef.print(","); //in V
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SerialRef.print(fbrear.batVoltage/100.0); SerialRef.print(","); //in V
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SerialRef.print(currentAll,3); SerialRef.print(","); //invert. positive current is drive current
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SerialRef.print(currentAll,3); SerialRef.print(",");
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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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