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fix wrong consumed current. increase current filter

This commit is contained in:
interfisch 2021-06-14 20:56:28 +02:00
parent c9c2cce97a
commit fc8ce7d2f3
1 changed files with 5 additions and 5 deletions
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10
controller_teensy/src/main.cpp
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@ -151,8 +151,8 @@ SerialFeedback NewFeedbackFront;
SerialFeedback FeedbackRear; SerialFeedback FeedbackRear;
SerialFeedback NewFeedbackRear; SerialFeedback NewFeedbackRear;
#define CURRENT_FILTER_SIZE 40 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller) #define CURRENT_FILTER_SIZE 60 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller)
#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 #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
typedef struct{ typedef struct{
int16_t curL_DC[CURRENT_FILTER_SIZE] = {0}; //current will be inverted for this so positive value means consumed current int16_t curL_DC[CURRENT_FILTER_SIZE] = {0}; //current will be inverted for this so positive value means consumed current
int16_t curR_DC[CURRENT_FILTER_SIZE] = {0}; int16_t curR_DC[CURRENT_FILTER_SIZE] = {0};
@ -328,7 +328,7 @@ void loop() {
trip+=abs(meanSpeedms)* (SENDPERIOD/1000.0); trip+=abs(meanSpeedms)* (SENDPERIOD/1000.0);
//mah consumed //mah consumed
currentConsumed += filtered_currentAll* (SENDPERIOD/1000.0)/3600.0; //amp hours currentConsumed += (motorparamsFront.filtered_curL+motorparamsFront.filtered_curR+motorparamsRear.filtered_curL+motorparamsRear.filtered_curR)* (SENDPERIOD/1000.0)/3600.0; //amp hours
} }
//If needed write log to serial port //If needed write log to serial port
@ -384,7 +384,7 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
SerialRef.print(mprear.cmdL); SerialRef.print(","); SerialRef.print(mprear.cmdL); SerialRef.print(",");
SerialRef.print(mprear.cmdR); SerialRef.print(","); SerialRef.print(mprear.cmdR); SerialRef.print(",");
SerialRef.print(mpfront.filtered_curL,3); SerialRef.print(","); //invert. positive current is drive current SerialRef.print(mpfront.filtered_curL,3); SerialRef.print(",");
SerialRef.print(mpfront.filtered_curR,3); SerialRef.print(","); SerialRef.print(mpfront.filtered_curR,3); SerialRef.print(",");
SerialRef.print(mprear.filtered_curL,3); SerialRef.print(","); SerialRef.print(mprear.filtered_curL,3); SerialRef.print(",");
SerialRef.print(mprear.filtered_curR,3); SerialRef.print(","); SerialRef.print(mprear.filtered_curR,3); SerialRef.print(",");
@ -399,7 +399,7 @@ void writeLog(HardwareSerial &SerialRef, unsigned long time, MotorParameter &mpf
SerialRef.print(fbfront.batVoltage/100.0); SerialRef.print(","); //in V SerialRef.print(fbfront.batVoltage/100.0); SerialRef.print(","); //in V
SerialRef.print(fbrear.batVoltage/100.0); SerialRef.print(","); //in V SerialRef.print(fbrear.batVoltage/100.0); SerialRef.print(","); //in V
SerialRef.print(currentAll,3); SerialRef.print(","); //invert. positive current is drive current SerialRef.print(currentAll,3); SerialRef.print(",");
SerialRef.print(throttle); SerialRef.print(","); SerialRef.print(throttle); SerialRef.print(",");
SerialRef.print(brake); SerialRef.print(","); SerialRef.print(brake); SerialRef.print(",");
SerialRef.print(meanSpeedms); SerialRef.print(","); // m/s SerialRef.print(meanSpeedms); SerialRef.print(","); // m/s