Diff: speedlimiter.cpp

Revision:

8:51549d7108dd

Parent:

7:d636d073b942

Child:

9:3e8bb4aba7c7

--- a/speedlimiter.cpp	Fri Oct 26 17:50:47 2018 +0000
+++ b/speedlimiter.cpp	Tue Nov 06 22:07:05 2018 +0000
@@ -6,6 +6,15 @@
 
 #define debug SpeedLimiter::pc->printf
 
+const float valeursVitessesRecommandes[20] = {0,2.7546,5.5052,8.2467,10.974,13.682,16.365,19.23,22.058,24.846,27.587,29.858,29.981,29.876,29.968,29.833,29.895,29.941,29.888,29.937};
+
+float getNextReferenceSpeed() {
+    static int index = 0;
+    return valeursVitessesRecommandes[index++];
+}
+
+
+
 Serial* SpeedLimiter::pc = new Serial(USBTX, USBRX);
 
 SpeedLimiter::SpeedLimiter(const PinName& pedalInHi, const PinName& pedalInLo, const PinName& pedalOutHi, const PinName& pedalOutLo)
@@ -24,6 +33,17 @@
 
 void SpeedLimiter::ipControllerTransferFunction()
 {
+    static int counter = 0;
+    // une fois par 10 * 0.1 secondes -> 1 seconde
+    if (counter < 10 - 1) { 
+        counter++;
+    }
+    else {
+        counter = 0;
+        float nextReferenceSpeed = getNextReferenceSpeed();
+        setReferenceSpeed(getNextReferenceSpeed());
+        pc->printf("%f\n\r", nextReferenceSpeed);
+    }
     // write voltages at beginning of function to prevent jitter
     // voltage will be delayed by 1 call which is okay.
 //    pc->printf("H\n\r");