kleiax/Bachelorarbeit-Rover
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extend battery lib with messuared values and new

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calculation
This commit is contained in:
kleiax
2023-04-26 15:55:34 +02:00
parent 5081290164
commit c2048ae949
3 changed files with 129 additions and 32 deletions
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src/main.cpp
+22 -12
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@@ -77,7 +77,7 @@ void setup() {
spiPort = new SPIClass(HSPI);
spiPort->begin(UBLOX_GNSS_SPI_SCK, UBLOX_GNSS_SPI_CIPO, UBLOX_GNSS_SPI_COPI, UBLOX_GNSS_SPI_CS);
mainBattery = new Battery(35, 692000, 218500);
mainBattery = new Battery(35);
controlPad = new ControlPad();
Wire.begin(21, 19);
@@ -137,18 +137,25 @@ void loop() {
main_m->update();
lcdWrapper->loop();
mainBattery->loop();
if (mainBattery->isBatteryLow(10)) {
moveController.emergencyStop();
bool newValues = mainBattery->loop();
uint16_t voltage = (uint16_t) (mainBattery->getBatteryVoltage() * 100);
if (newValues) {
static uint8_t batteryLowCounter = 0;
if (mainBattery->isBatteryLow(10))
batteryLowCounter++;
else
batteryLowCounter = 0;
lcd->setCursor(0, 0);
lcd->printf("Low Battery: %u", voltage);
lcd->setCursor(0, 1);
lcd->print("Please turn off.");
while (true);
if (batteryLowCounter >= 10) {
moveController.emergencyStop();
uint16_t voltage = (uint16_t) (mainBattery->getBatteryVoltage() * 100);
lcd->setCursor(0, 0);
lcd->printf("Low Battery: %u", voltage);
lcd->setCursor(0, 1);
lcd->print("Please turn off.");
while (true);
}
}
}
@@ -202,7 +209,7 @@ void makeMenu() {
MenuSysteminformation* sys_m = new MenuSysteminformation(mainBattery);
MenuRoute* rout_m = new MenuRoute(driveManager->getNavigation()->getRoute());
// Set Menus on LCD
// Set Menus on LCD and set update time
main_m->setLcd(lcdWrapper);
mode_m->setLcd(lcdWrapper);
pid_m->setLcd(lcdWrapper);
@@ -213,10 +220,13 @@ void makeMenu() {
auto_m->setLcd(lcdWrapper);
testM_m->setLcd(lcdWrapper);
gps_m->setLcd(lcdWrapper);
gps_m->setUpdateDelay(1000);
sys_m->setLcd(lcdWrapper);
sys_m->setUpdateDelay(1500);
rout_m->setLcd(lcdWrapper);
// Entry for the main menu
MenuAction* mode_e = new MenuAction("Mode", mode_m);
MenuAction* gps_e = new MenuAction("GPS", gps_m);