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hoverboard-esc-serial-comm
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fix wheel direction for rpm feedback functions

This commit is contained in:
interfisch 2023-06-02 19:17:45 +02:00
parent 00b432942f
commit 8d180debf7
2 changed files with 11 additions and 7 deletions
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16
src/hoverboard-esc-serial-comm.cpp
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@ -34,17 +34,19 @@ bool ESCSerialComm::update(unsigned long loopmillis) //returns true if something
updateMotorparams(loopmillis);
}
#define TRIP_UPDATE_INTERVAL 100
static unsigned long last_update_trip;
#define TRIP_UPDATE_INTERVAL 100
if ( loopmillis > last_update_trip+TRIP_UPDATE_INTERVAL) {
last_update_trip=loopmillis;
unsigned long trip_update_interval_real=loopmillis-last_update_trip;
last_update_trip=loopmillis;
double _meanRPM=(-Feedback.speedL_meas+Feedback.speedR_meas)/2.0;
//double _meanRPM=(-Feedback.speedL_meas+Feedback.speedR_meas)/2.0;
double _meanRPM=(getFeedback_speedL_meas()+getFeedback_speedR_meas())/2.0;
meanSpeedms=_meanRPM*wheelcircumference/60.0; // Units: 1/min * m / 60s
trip+=abs(meanSpeedms)* ((TRIP_UPDATE_INTERVAL)/1000.0);
trip+=abs(meanSpeedms)* ((trip_update_interval_real)/1000.0);
//mah consumed
currentConsumed += (Motorparams.filtered_curL+Motorparams.filtered_curR)* (TRIP_UPDATE_INTERVAL/1000.0)/3600.0; //amp hours
currentConsumed += (Motorparams.filtered_curL+Motorparams.filtered_curR)* (trip_update_interval_real/1000.0)/3600.0; //amp hours
}
@ -229,7 +231,7 @@ int16_t ESCSerialComm::getFeedback_speedL_meas() {
return Feedback.speedL_meas;
}
int16_t ESCSerialComm::getFeedback_speedR_meas() {
return Feedback.speedR_meas;
return -Feedback.speedR_meas; //negate rpm, so that positive rpm means driving forward
}
float ESCSerialComm::getFeedback_batVoltage() {
return Feedback.batVoltage/100.0;

2
src/hoverboard-esc-serial-comm.h
View File

@ -142,6 +142,8 @@ class ESCSerialComm
unsigned long feedback_interval_timed;
unsigned long last_update_trip;
SerialCommand Command;
SerialRead SRead;