From 5d05a3c82a6af375b96096ae49c4269b0ff812de Mon Sep 17 00:00:00 2001
From: Thomas Lambert <t.lambert@uliege.be>
Date: Fri, 4 Nov 2022 16:38:54 +0100
Subject: [PATCH] refact: reorder stuff, better names
---
controller/controller.ino | 39 +++++++++++++++++++++------------------
1 file changed, 21 insertions(+), 18 deletions(-)
diff --git a/controller/controller.ino b/controller/controller.ino
index 06d7a83..084ca39 100644
--- a/controller/controller.ino
+++ b/controller/controller.ino
@@ -32,7 +32,8 @@ Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
#define CLK_PIN 2 // Encoder CLK
#define DO_PIN 8 // Encoder Digital Output
-#define CSN_PINS { 3, 4, 5, 6 } // Encoder Chip Select pins
+#define CSN_PINS \
+ { 3, 4, 5, 6 } // Encoder Chip Select pins
#define CUR1_PIN A1 // Current measurement for Front motor
#define CUR2_PIN A2 // Current measurement for Aft motor
@@ -43,10 +44,10 @@ Repo: https://gitlab.uliege.be/thlamb/mecharaptor-controller
#define DIV_RES1 9000.0 // Resistance of R1 in the voltage dividers
#define DIV_RES2 1000.0 // Resistance of R2 in the voltage dividers
-#define SEN0098_VCC 5 // Supply voltage of the current sensors
-#define SEN0098_SENSI 20.0 // [FIXME] VERIFY!
-#define SEN0098_VIOUT 0.12 // [FIXME] VERIFY!
-#define SEN0098_OFFSET 0.12 // [FIXME] VERIFY!
+#define SEN0098_VCC 5 // Supply voltage of the current sensors
+#define SEN0098_SENSI 20.0 // [FIXME] VERIFY!
+#define SEN0098_VIOUT 0.12 // [FIXME] VERIFY!
+#define SEN0098_OFFSET 0.007 // [FIXME] VERIFY!
#define GEAR_RATIO 0.1 // Gear ratio between motor and wings
@@ -159,8 +160,8 @@ void loop() {
// Read current and power
float psu_cur[2], psu_vol[2];
- GetPsu(TENS1_PIN,CUR1_PIN, psu_vol[0], psu_cur[0]);
- GetPsu(TENS2_PIN,CUR2_PIN, psu_vol[1], psu_cur[1]);
+ GetPsu(TENS1_PIN, CUR1_PIN, psu_vol[0], psu_cur[0]);
+ GetPsu(TENS2_PIN, CUR2_PIN, psu_vol[1], psu_cur[1]);
SerialPrint(gMode, potent, gEsc_val, wing_angles, psu_vol, psu_cur);
}
@@ -271,7 +272,9 @@ unsigned int ReadSensor(uint8_t csn) {
// Output data to use with serial-studio
+// The /* and */ indicate beginning and end of stream data. Do not modify!
void SerialPrint(String mode, int potent, int esc_val, unsigned int wing_angles[], float psu_vol[], float psu_cur[]) {
+
float freq = map(esc_val, 0, 180, 0, RpmToFreq(gMAX_RPM) * 100.0) / 100.0;
Serial.print("/*");
@@ -283,7 +286,7 @@ void SerialPrint(String mode, int potent, int esc_val, unsigned int wing_angles[
Serial.print(",");
Serial.print(esc_val);
Serial.print(",");
- Serial.print(freq); // [FIXME] Is it useful?
+ Serial.print(freq);
for (int i = 0; i < sizeof(gCSN_PINS); i++) {
Serial.print(",");
Serial.print(wing_angles[i]);
@@ -297,12 +300,19 @@ void SerialPrint(String mode, int potent, int esc_val, unsigned int wing_angles[
Serial.println("*/");
}
+
+// Get the tension and current of a PSU
+void GetPsu(byte vol_pin, byte cur_pin, float &vol, float &cur) {
+ vol = GetTension(vol_pin);
+ cur = GetCurrent(cur_pin);
+}
+
// Measure current consumed by module
float GetCurrent(byte cur_pin) {
- float cur_raw = (5.0 / 1023.0) * analogRead(cur_pin);
+ float volt_raw = (5.0 / 1023.0) * analogRead(cur_pin);
- float cur = cur_raw * -gCUR_QOV + 0.007; //Trimming vale to make current equal to 0 when no current
- return cur / gCUR_FACT; // get actual current
+ float volt = volt_raw * -gCUR_QOV + SEN0098_OFFSET; // Trimming value to make current equal to 0 when no current
+ return volt / gCUR_FACT; // Actual current
}
// Measure the tension provided by the PSU
@@ -311,10 +321,3 @@ float GetTension(byte vol_pin) {
return vol_raw * (DIV_RES1 + DIV_RES2) / (DIV_RES2);
}
-
-// Get the tension and current of a PSU
-void GetPsu(byte vol_pin, byte cur_pin, float &vol, float &cur) {
- vol = GetTension(vol_pin);
- cur= GetCurrent(cur_pin);
-
-}
--
GitLab