From f50ff25ceefbc264c36a0f408aaf9b8c3f791a88 Mon Sep 17 00:00:00 2001
From: Thomas Lambert <t.lambert@uliege.be>
Date: Wed, 23 Nov 2022 10:28:30 +0100
Subject: [PATCH] fix(logg): current calibration
---
controller/controller.ino | 24 +++++++++++++-----------
controller/sensors.ino | 5 ++---
controller/utils.ino | 5 +++--
3 files changed, 18 insertions(+), 16 deletions(-)
diff --git a/controller/controller.ino b/controller/controller.ino
index d0757ba..e0ee124 100644
--- a/controller/controller.ino
+++ b/controller/controller.ino
@@ -45,10 +45,10 @@
#define DIV_RES1 47800.0 // Resistance of R1 in the voltage dividers
#define DIV_RES2 6800.0 // Resistance of R2 in the voltage dividers
-#define SEN0098_VCC 5 // Supply voltage of the current sensors
-#define SEN0098_SENSI 40.0 // Chip ACS758LCB-050B-PFF-T
-#define SEN0098_VIOUT 0.12 // [FIXME] VERIFY!
-#define SEN0098_OFFSET 0.007 // [FIXME] VERIFY!
+#define SEN0098_VCC 5 // Supply voltage of the current sensors
+#define SEN0098_SENSI 40.0 // Chip ACS758LCB-050B-PFF-T
+#define SEN0098_QUIESCENT_FACTOR 0.5 // Bidirectional chip-> V_IOUTQ = 0.5*VCC
+#define SEN0098_OFFSET 0.007 // [FIXME] VERIFY!
#define GEAR_RATIO 0.1 // Gear ratio between motor and wings
@@ -75,10 +75,11 @@ const uint16_t gMIN_RPM = 750; // Motor minimum RPM (set in ESC)
const uint8_t gMAX_ESC_VAL = 160; // Value at which motor is at max RPM
const uint8_t gMIN_ESC_VAL = 40; // Min value for ESC to start motor (trial-error)
-const uint8_t gCSN_PINS[] = CSN_PINS; // Encoder Chip Select pins
-const int8_t gENC_ORIENT[] = ENC_ORIENT; // Encoder orientation
-const float gCUR_FACT = SEN0098_SENSI / 1000.0; // Factor for current measurement
-const float gCUR_QOV = SEN0098_VIOUT * SEN0098_VCC; // [FIXME] Verify
+const uint8_t gCSN_PINS[] = CSN_PINS; // Encoder Chip Select pins
+const int8_t gENC_ORIENT[] = ENC_ORIENT; // Encoder orientation
+
+const float gCUR_FACT = SEN0098_SENSI / 1000.0; // Factor for current measurement
+const float gCUR_QOV = SEN0098_QUIESCENT_FACTOR * SEN0098_VCC; // VIOUT_Q
// Other
Servo gEsc1; // ESC for front motor
@@ -136,8 +137,9 @@ void setup() {
Calibrate();
}
+ delay(1000);
Serial.println("[INFO]: Setup OK, starting now...");
- delay(1000); // Ensure all is properly initialized
+ delay(500);
}
@@ -265,9 +267,9 @@ void SerialPrint(String mode, int potent, int esc_val, unsigned int wing_angles[
Serial.print(freq);
for (int i = 0; i < sizeof(gCSN_PINS); i++) {
Serial.print(",");
- Serial.print(PosToDeg(wing_angles[i]) - gMaxWingPos[i] + TRUE_MAX_ANGLE);
+ Serial.print(PosToDeg((wing_angles[i] - gMaxWingPos[i]) % ENC_PRECISION) + TRUE_MAX_ANGLE - 360);
}
- for (int i = 0; i < sizeof(psu_vol) / sizeof(psu_vol[0]); i++) {
+ for (int i = 0; i < 2; i++) {
Serial.print(",");
Serial.print(psu_vol[i]);
Serial.print(",");
diff --git a/controller/sensors.ino b/controller/sensors.ino
index 6fbab66..f206b3d 100644
--- a/controller/sensors.ino
+++ b/controller/sensors.ino
@@ -28,7 +28,7 @@ unsigned int ReadSensor(uint8_t csn, int8_t orient, int8_t offset) {
}
digitalWrite(csn, HIGH); //deselects the encoder from reading
- return (1 - orient) / 2 * ENC_PRECISION + orient * ret - offset * ENC_PRECISION / 2;
+ return (1 - orient) / 2 * ENC_PRECISION + orient * ret - (offset * ENC_PRECISION / 2);
}
// Get the tension and current of a PSU
@@ -38,8 +38,7 @@ void GetPsu(byte vol_pin, byte cur_pin, float &vol, float &cur) {
}
// Measure current consumed by module
-// https://www.youtube.com/watch?v=SiHfjzcqnU4
-// [FIXME] Check properly
+// From https://www.youtube.com/watch?v=SiHfjzcqnU4
float GetCurrent(byte cur_pin) {
float volt_raw = (5.0 / 1023.0) * analogRead(cur_pin);
diff --git a/controller/utils.ino b/controller/utils.ino
index 6d3f3cb..ef39dc3 100644
--- a/controller/utils.ino
+++ b/controller/utils.ino
@@ -37,10 +37,11 @@ float PosToDeg(unsigned int pos) {
}
void PrintArray(int array[]) {
- for (int i = 0; i < sizeof(array) / sizeof(array[0]); i++) {
+ for (int i = 0; i < 4; i++) {
Serial.print(array[i]);
- if (i < sizeof(array) - 1) {
+ if (i < 4 - 1) {
Serial.print(", ");
}
}
+ Serial.println();
}
--
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