jenoack/Unendlichkeitsmaschine
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modified speed calculation

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This commit is contained in:
Jens Noack 2023-03-24 10:27:37 +01:00
parent 1f9524bc27
commit 6bee40cf5a
1 changed files with 22 additions and 21 deletions
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39
vscode/Unendlichkeitsmaschine/src/main.cpp
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@ -4,7 +4,6 @@ int Drehregler; // Ausgabewert des Drehreglers
int speed; // Das Wort "Geschwindigkeit" steht als Variable für den Ansteuerungswert am ESC. int speed; // Das Wort "Geschwindigkeit" steht als Variable für den Ansteuerungswert am ESC.
int last_speed; int last_speed;
volatile uint8_t time_per_round_pointer = 0; volatile uint8_t time_per_round_pointer = 0;
volatile uint8_t time_per_round_last_updated_ms = 0;
volatile double time_per_round_ms[TIME_PER_ROUND_VALS]; volatile double time_per_round_ms[TIME_PER_ROUND_VALS];
time_t run_time = 0; time_t run_time = 0;
@ -120,7 +119,8 @@ void setup()
#endif #endif
Serial.println(" Auf gehts ... "); Serial.println(" Auf gehts ... ");
ESC.write(20);
delay(1000);
} }
void loop() void loop()
@ -214,7 +214,14 @@ void PID()
} }
output = kp * err + ki * integ + kd * derivative; output = kp * err + ki * integ + kd * derivative;
if(-1 == ser_esc_output )
{
esc_output = constrain(output, MIN_ESC_SPEED, MAX_ESC_SPEED); esc_output = constrain(output, MIN_ESC_SPEED, MAX_ESC_SPEED);
}
else
{
esc_output = ser_esc_output;
}
last_error = err; last_error = err;
} }
@ -224,8 +231,10 @@ unsigned long time_per_round_calc()
unsigned long min_time = 0; unsigned long min_time = 0;
unsigned long max_time = 0; unsigned long max_time = 0;
uint8_t nr_times = 0; uint8_t nr_times = 0;
if(millis() - time_per_round_last_updated_ms <= (HALL_NR_TURN*MAX_TIME_PER_TURN_MS)) bool real_values = false;
if(millis() - HallData[0].act_update_ms <= (HALL_NR_TURN*MAX_TIME_PER_TURN_MS))
{ {
real_values = true;
for(uint8_t i = 0; i < TIME_PER_ROUND_VALS; i++) for(uint8_t i = 0; i < TIME_PER_ROUND_VALS; i++)
{ {
unsigned long time_round_ms = time_per_round_ms[i]/HALL_NR_TURN; unsigned long time_round_ms = time_per_round_ms[i]/HALL_NR_TURN;
@ -247,19 +256,23 @@ unsigned long time_per_round_calc()
{ {
mid_time = (mid_time - max_time - min_time)/(nr_times - 2); mid_time = (mid_time - max_time - min_time)/(nr_times - 2);
} }
else if (nr_times > 0)
{
mid_time = mid_time/nr_times;
}
} }
else else
{ {
for (uint8_t i= 0; i < TIME_PER_ROUND_VALS; i++) for (uint8_t i= 0; i < TIME_PER_ROUND_VALS; i++)
{ {
time_per_round_ms[i] = HALL_NR_TURN*MAX_TIME_PER_TURN_MS; time_per_round_ms[i] = TIME_PER_ROUND_VALS;
} }
mid_time = MAX_TIME_PER_TURN_MS; mid_time = MAX_TIME_PER_TURN_MS;
} }
static unsigned long last_mid_time = millis(); static unsigned long last_mid_time = millis();
if(millis() - last_mid_time > 500) if(millis() - last_mid_time > 500)
{ {
Serial.printf(">turn_time_ms:%d\n", mid_time); Serial.printf(">turn_time_ms:%d\n>real_values:%d\n", mid_time, real_values);
last_mid_time = millis(); last_mid_time = millis();
} }
return(mid_time); return(mid_time);
@ -274,16 +287,8 @@ void speed_set()
//Serial.printf(">periodticks0:%d\n>ticks0turntime_ms:%d\n>goal:%06.3f\n>current:%06.3f\n>err:%06.3f\n>integ:%06.3f\n>derive:%06.3f\n>output:%06.3f\n>esc_output:%06.3f\n", //Serial.printf(">periodticks0:%d\n>ticks0turntime_ms:%d\n>goal:%06.3f\n>current:%06.3f\n>err:%06.3f\n>integ:%06.3f\n>derive:%06.3f\n>output:%06.3f\n>esc_output:%06.3f\n",
// HallData[0].period_ticks, time_per_round_ms[time_per_round_pointer], goal_speed, current_speed, err, integ, derivative, output, esc_output); // HallData[0].period_ticks, time_per_round_ms[time_per_round_pointer], goal_speed, current_speed, err, integ, derivative, output, esc_output);
Serial.printf(">period_ticks:%d\n>time_per_round_last_updated_ms:%d\n>goal_speed:%06.3f\n>current:%06.3f\n>err:%06.3f\n", Serial.printf(">period_ticks:%d\n>time_per_round_last_updated_ms:%d\n>goal_speed:%06.3f\n>current:%06.3f\n>err:%06.3f\n",
HallData[0].period_ticks, time_per_round_last_updated_ms, goal_speed, current_speed, err); HallData[0].period_ticks,HallData[0].act_updated_ms, goal_speed, current_speed, err);
if(-1 == ser_esc_output )
{
ESC.write(esc_output); ESC.write(esc_output);
}
else
{
ESC.write(ser_esc_output);
ser_esc_output = -1;
}
last_esc_write_ms = millis(); last_esc_write_ms = millis();
} }
} }
@ -525,11 +530,7 @@ void IRAM_ATTR ISR_HALL1()
time_per_round_ms[time_per_round_pointer] = time_ms - HallData[hallnr].act_update_ms; time_per_round_ms[time_per_round_pointer] = time_ms - HallData[hallnr].act_update_ms;
HallData[hallnr].act_update_ms = time_ms; HallData[hallnr].act_update_ms = time_ms;
time_per_round_pointer++; time_per_round_pointer++;
time_per_round_last_updated_ms = time_ms; time_per_round_pointer = time_per_round_pointer>TIME_PER_ROUND_VALS?0:time_per_round_pointer;
if(time_per_round_pointer > TIME_PER_ROUND_VALS)
{
time_per_round_pointer = 0;
}
} }
} }