get functions for feedback

src/hoverboard-esc-serial-comm.cpp

@@ -51,15 +51,22 @@ bool ESCSerialComm::update(long millis) //returns true if something was sent or
     if (loopmillis - last_send > SENDPERIOD) { //Calculate motor stuff and send to motor controllers    
         last_send=loopmillis;
 
+        Motorparams.filtered_curL=filterMedian(Motorparams.curL_DC)/50.0; //in Amps
+        Motorparams.filtered_curR=filterMedian(Motorparams.curR_DC)/50.0; //in Amps
+        
         if (controller_connected) {
             SendSerial(Motorparams.cmdL,Motorparams.cmdR);
 
             
+            
+
             flag_sent=true;
             //Serial.print(cmd_send); Serial.print(", "); Serial.print(throttle_pos); Serial.print(", "); Serial.print(filtered_curFL*1000); Serial.print(", "); Serial.print(filtered_curFR*1000); Serial.print(", "); Serial.print(filtered_currentAll*1000);  Serial.println()
             
         }
 
+        
+
         //Update speed and trip
         float _meanRPM=(Feedback.speedL_meas-Feedback.speedR_meas)/2.0;
         meanSpeedms=_meanRPM*wheelcircumference/60.0;   // Units: 1/min * m / 60s
@@ -188,3 +195,46 @@ float filterMedian(int16_t* values) {
 
   return mean;
 }
+
+
+int16_t ESCSerialComm::getFeedback_cmd1() {
+  return Feedback.cmd1;
+}
+int16_t ESCSerialComm::getFeedback_cmd2() {
+  return Feedback.cmd2;
+}
+int16_t ESCSerialComm::getFeedback_speedL_meas() {
+  return Feedback.speedL_meas;
+}
+int16_t ESCSerialComm::getFeedback_speedR_meas() {
+  return Feedback.speedR_meas;
+}
+float ESCSerialComm::getFeedback_batVoltage() {
+  return Feedback.batVoltage/100.0;
+}
+float ESCSerialComm::getFeedback_boardTemp() {
+  return Feedback.boardTemp/10.0;
+}
+float ESCSerialComm::getFeedback_curL_DC() {
+  return Feedback.curL_DC/50.0;
+}
+float ESCSerialComm::getFeedback_curR_DC() {
+  return Feedback.curR_DC/50.0;
+}
+
+float ESCSerialComm::getFiltered_curL() {
+  return Motorparams.filtered_curL;
+}
+float ESCSerialComm::getFiltered_curR() {
+  return Motorparams.filtered_curR;
+}
+
+
+
+float ESCSerialComm::getCurrentConsumed() {
+  return currentConsumed;
+}
+
+float ESCSerialComm::getTrip() {
+  return trip;
+}

src/hoverboard-esc-serial-comm.h

@@ -52,6 +52,7 @@ typedef struct{ //match this struct to hoverboard-firmware SerialFeedback struct
    uint16_t  checksum;
 } SerialFeedback;
 
+
 #define CURRENT_FILTER_SIZE 60 //latency is about CURRENT_FILTER_SIZE/2*MEASURE_INTERVAL (measure interval is defined by hoverboard controller)
 #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
 
@@ -81,6 +82,20 @@ class ESCSerialComm
     int16_t getCmdR();
     bool sendPending(long millis);
 
+    int16_t getFeedback_cmd1();
+    int16_t getFeedback_cmd2();
+    int16_t getFeedback_speedL_meas();
+    int16_t getFeedback_speedR_meas();
+    float getFeedback_batVoltage();
+    float getFeedback_boardTemp();
+    float getFeedback_curL_DC();
+    float getFeedback_curR_DC();
+    float getFiltered_curL();
+    float getFiltered_curR();
+
+    float getCurrentConsumed();
+    float getTrip();
+
   private:
     unsigned long loopmillis;
 
@@ -118,3 +133,4 @@ class ESCSerialComm
     bool ReceiveSerial();
 };
 #endif
+