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fix speedometer buffer

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kleiax
2023-08-14 09:00:20 +02:00
parent 010544a35a
commit 534629e2e9
2 changed files with 15 additions and 13 deletions
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lib/Speedometer/speedometer.cpp
+9 -9
View File
@@ -47,12 +47,12 @@ void Speedometer::runSpeedometer() {
uint16_t elapsedTime = time - this->lastMillisCalc; uint16_t elapsedTime = time - this->lastMillisCalc;
this->lastMillisCalc = time; this->lastMillisCalc = time;
this->addValToBuf(this->pulseCounter->getValue()); int16_t pulse = this->pulseCounter->getValue();
this->pulseCounter->clear(); this->pulseCounter->clear();
this->pulseCounter->resume(); this->pulseCounter->resume();
double n = (double)this->calcAverage() / this->steps; // Wheel revolutions in absolute time double n = (double)pulse / this->steps; // Wheel revolutions in absolute time
double u = n / ((double)elapsedTime / 1000); // Wheel revolutions per second double u = n / ((double)elapsedTime / 1000); // Wheel revolutions per second
double ms = u * (diameter * PI); // Speed in m/s double ms = u * (diameter * PI); // Speed in m/s
@@ -70,12 +70,7 @@ void Speedometer::runSpeedometer() {
break; break;
} }
// if (this->speed) this->addValToBuf(static_cast<int16_t>(this->speed * CONVERSION_FACTOR));
// this->printCounter++;
// if (this->printCounter > 10) {
// this->printCounter = 0;
// std::cout << "Speedometer::runSpeedometer speed: " << (int) this->speed << std::endl;
// }
} }
void Speedometer::setDirection(Direction dir) { void Speedometer::setDirection(Direction dir) {
@@ -96,6 +91,11 @@ void Speedometer::setEncFilter(uint16_t val) {
this->pulseCounter->setFilterValue(val); this->pulseCounter->setFilterValue(val);
} }
double Speedometer::getAvgSpeed() const {
int16_t avg = this->calcAverage();
return (float)avg / CONVERSION_FACTOR;
}
void Speedometer::calibrationMeasurementStart() { void Speedometer::calibrationMeasurementStart() {
std::cout << "Start" << std::endl; std::cout << "Start" << std::endl;
this->calibrationRunning = true; this->calibrationRunning = true;
@@ -150,7 +150,7 @@ void Speedometer::updateAvgBufSize() {
initAvgBuf(); initAvgBuf();
} }
int16_t Speedometer::calcAverage() { int16_t Speedometer::calcAverage() const {
int16_t sum = 0; int16_t sum = 0;
for (int i = 0; i < this->bufSize; i++) for (int i = 0; i < this->bufSize; i++)
sum += this->buf[i]; sum += this->buf[i];
lib/Speedometer/speedometer.h
+6 -4
View File
@@ -22,14 +22,15 @@
* @brief The default size of numbers to be taken in account for the average. * @brief The default size of numbers to be taken in account for the average.
* *
*/ */
#define BUFSIZE 10 #define BUFSIZE 5
#define CONVERSION_FACTOR
/** /**
* @brief Default value for min Millisseconds between each loop * @brief Default value for min Millisseconds between each loop
* @see setDelay(uint8_t val) * @see setDelay(uint8_t val)
*/ */
#define DELAY_SPEEDOMETER 30 #define DELAY_SPEEDOMETER 30
#define PI 3.1415926535897932384626433832795 #define PI 3.141592
/** /**
* @brief A class which use a encoder to calc the speed * @brief A class which use a encoder to calc the speed
@@ -126,7 +127,8 @@ class Speedometer {
* *
* @return double speed in m/s * @return double speed in m/s
*/ */
double getSpeed() { return this->speed; } double getSpeed() const { return this->speed; }
double getAvgSpeed() const;
/** /**
* @brief Start calibration * @brief Start calibration
@@ -153,7 +155,7 @@ class Speedometer {
void clearAvgBuf(); void clearAvgBuf();
void addValToBuf(int16_t val); void addValToBuf(int16_t val);
void updateAvgBufSize(); void updateAvgBufSize();
int16_t calcAverage(); int16_t calcAverage() const;
Counter* pulseCounter; Counter* pulseCounter;
Direction currentDirection = Direction::None; Direction currentDirection = Direction::None;