134 lines
3.2 KiB
C++
134 lines
3.2 KiB
C++
/**
|
|
* @file speedometer.cpp
|
|
* @author Alexander Klein (alex@kleiax.de)
|
|
* @brief Implementation of the class speedometer.h
|
|
* @see speedometer.h
|
|
* @version 0.1
|
|
* @date 2021-12-13
|
|
*
|
|
* @copyright Copyright (c) 2021
|
|
*
|
|
*/
|
|
#include "speedometer.h"
|
|
|
|
Speedometer::Speedometer() {}
|
|
Speedometer::~Speedometer() {
|
|
delete[] this->buf;
|
|
}
|
|
|
|
void Speedometer::init(uint8_t pinA, uint8_t pinB, double diameter, uint16_t steps, uint8_t numOfValForAvg) {
|
|
this->init(pinA, pinB, diameter, steps);
|
|
this->bufSize = numOfValForAvg;
|
|
}
|
|
|
|
void Speedometer::init(uint8_t pinA, uint8_t pinB, double diameter, uint16_t steps) {
|
|
ESP32Encoder::useInternalWeakPullResistors=DOWN;
|
|
this->encoder.attachFullQuad(pinA, pinB);
|
|
this->diameter = diameter;
|
|
this->steps = steps;
|
|
|
|
initAvgBuf();
|
|
|
|
this->isInit = true;
|
|
}
|
|
|
|
uint16_t Speedometer::loop() {
|
|
if (this->calibrationRunning)
|
|
return -1;
|
|
|
|
uint32_t time = millis();
|
|
uint16_t elapsed_time = time - this->last_millis_loop;
|
|
|
|
//Cancel if delayLoop is not reached
|
|
if (elapsed_time < this->delayLoop)
|
|
return elapsed_time;
|
|
|
|
runSpeedometer();
|
|
this->last_millis_loop = time;
|
|
return elapsed_time;
|
|
}
|
|
|
|
void Speedometer::runSpeedometer() {
|
|
uint32_t time = millis();
|
|
|
|
uint16_t elapsed_time = time - last_millis_calc;
|
|
last_millis_calc = time;
|
|
|
|
int16_t count = encoder.getCount();
|
|
this->addValToBuf(count);
|
|
this->encoder.clearCount();
|
|
|
|
uint16_t count_abs = abs(this->calcAverage()); // Absolute time in milliseconds
|
|
double n = (double)count_abs / steps; // Wheel revolutions in absolute time
|
|
double u = (double)n / ((double)elapsed_time / 1000); // Wheel revolutions per second
|
|
double ms = u * (diameter * PI); // Speed in m/s
|
|
|
|
if (count > 0) {
|
|
this->speed = ms;
|
|
} else if (count < 0) {
|
|
this->speed = ms * (-1);
|
|
} else {
|
|
this->speed = 0;
|
|
}
|
|
|
|
std::cout << "Speedometer::runSpeedometer speed: " << (int) this->speed << std::endl;
|
|
}
|
|
|
|
void Speedometer::setNumOfValForAvg(uint8_t val) {
|
|
this->bufSize = val;
|
|
if (this->isInit)
|
|
updateAvgBufSize();
|
|
}
|
|
|
|
void Speedometer::setEncFilter(uint16_t val) {
|
|
if (val > 1023)
|
|
val = 1023;
|
|
this->encoder.setFilter(val);
|
|
}
|
|
|
|
void Speedometer::setDelay(uint8_t delayLoop) {
|
|
this->delayLoop = delayLoop;
|
|
}
|
|
|
|
double Speedometer::getSpeed() {
|
|
return this->speed;
|
|
}
|
|
|
|
void Speedometer::calibrationMeasurementStart() {
|
|
this->calibrationRunning = true;
|
|
this->encoder.clearCount();
|
|
}
|
|
|
|
uint16_t Speedometer::calibrationMeasurementStop() {
|
|
this->calibrationRunning = false;
|
|
uint16_t res = abs(this->encoder.getCount());
|
|
this->encoder.clearCount();
|
|
return res;
|
|
}
|
|
|
|
void Speedometer::initAvgBuf() {
|
|
this->buf = new int16_t[bufSize];
|
|
for (uint8_t i = 0; i < bufSize; i++)
|
|
this->buf[i] = 0;
|
|
}
|
|
|
|
void Speedometer::addValToBuf(int16_t val) {
|
|
this->buf[this->bufPos] = val;
|
|
this->bufPos++;
|
|
|
|
if (bufPos == bufSize)
|
|
bufPos = 0;
|
|
}
|
|
|
|
void Speedometer::updateAvgBufSize() {
|
|
delete[] this->buf;
|
|
initAvgBuf();
|
|
}
|
|
|
|
int16_t Speedometer::calcAverage() {
|
|
int16_t sum = 0;
|
|
for (int i = 0; i < this->bufSize; i++)
|
|
sum += this->buf[i];
|
|
return sum / this->bufSize;
|
|
}
|