148 lines
3.4 KiB
C++
148 lines
3.4 KiB
C++
/**
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* @file speedometer.h
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* @author Alexander Klein (alex@kleiax.de)
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* @brief A implementation to measure wheel speeds with an encoder.
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* @version 0.1
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* @date 2021-12-09
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*
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* @copyright Copyright (c) 2021
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*
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*/
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#ifndef SPEEDOMETER_H
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#define SPEEDOMETER_H
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#include <Arduino.h>
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#include <cstdint>
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#include <iostream>
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#include "counter.h"
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#include "component.h"
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/**
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* @brief A class which use a encoder to calc the speed
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*
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* This class use ESP32 pulse counter hardware peripheral.
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* The calculated speed is the average of an amount of last measurements.
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*
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*/
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class Speedometer : public Component
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{
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public:
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/**
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* @brief Enum to control the direction.
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*
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* If the Direction is Forward, the internal counter counts up and a positiv speed will be returned.
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* If the Direction is Backward, the internal counter counts down and a negativ speed will be returned.
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* If the Direction is None, no measurement will be taken.
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*/
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enum Direction
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{
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None,
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Forward,
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Backward
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};
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/**
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* @brief Construct a new Speedometer object
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*
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* @param pin Pin on the Esp from the encoder.
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* @param diameter Diameter of the wheel in meters.
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* @param steps EncoderSteps for a complete wheel rotation.
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*/
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Speedometer(uint8_t pin, double diameter, uint16_t steps);
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~Speedometer();
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/**
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* @brief Set the direction
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*
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* @param dir Direction
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*/
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void setDirection(Direction dir);
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/**
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* @brief Set the Enc Filter to prevent bouncing
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*
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* ignore pulses less than val x 2.5ns
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*
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* @param val default = 1000, max = 1023
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*/
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void setEncFilter(uint16_t val);
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/**
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* @brief Get the Direction
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*
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* @return Direction
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*/
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Direction getDirection() const { return this->currentDirection; }
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/**
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* @brief Get the calculated speed of the wheel
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*
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* @return double speed in m/s
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*/
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double getSpeed() const { return this->speed; }
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/**
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* @brief Get the calculated speed of the wheel
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*
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* @return double speed in rad/s
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*/
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double getSpeedRad() const { return this->rad; };
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/**
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* @brief Get the calculated average speed of the wheel
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*
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* @return double speed in m/s
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*/
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double getAvgSpeed() const;
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/**
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* @brief Start calibration
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*
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* This functions stops the loop. So that steps of one manual wheel turn
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* can measured. Call calibrationMeasurementStop to start the loop and get
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* the result.
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*/
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void calibrationMeasurementStart();
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/**
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* @brief Stop calibration
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*
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* Start the loop function and read the past steps.
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*
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* @return uint16_t steps since calibrationMeasurementStart was called
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*/
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uint16_t calibrationMeasurementStop();
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private:
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void run() override;
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void clearAvgBuf();
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void addValToBuf(int16_t val);
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int16_t calcAverage() const;
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static constexpr uint8_t loopDelay = 30;
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static constexpr uint8_t bufSize = 5;
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static constexpr uint8_t conversionFactor = 100;
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Counter *pulseCounter;
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Direction currentDirection = Direction::None;
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bool calibrationRunning = false;
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double speed = 0;
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double rad = 0;
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double diameter;
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uint8_t printCounter = 0;
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uint8_t bufPos = 0;
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uint16_t steps;
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int16_t buf[Speedometer::bufSize];
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uint32_t lastMillisCalc = 0;
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static constexpr uint16_t maxFilterValue = 1023;
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};
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#endif // SPEEDOMETER_H
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