Hesu-eco
/
limiteur_vitesse
premiere ebauche
speedlimiter.cpp
- Committer:
- shovelcat
- Date:
- 2018-10-23
- Revision:
- 4:a8c9f6a13633
- Parent:
- 3:4da392d2bae8
- Child:
- 5:aef1fc6c0df1
File content as of revision 4:a8c9f6a13633:
/* author: Sebastian Pelchat date: october 2018 */ #include "speedlimiter.hpp" #define debug SpeedLimiter::pc->printf Serial* SpeedLimiter::pc = new Serial(USBTX, USBRX); SpeedLimiter::SpeedLimiter(const PinName& pedalInHi, const PinName& pedalInLo, const PinName& pedalOutHi, const PinName& pedalOutLo) : _pedalInHi(pedalInHi) , _pedalInLo(pedalInLo) , _pedalOutHi(pedalOutHi) , _pedalOutLo(pedalOutLo) , _referenceSpeed(DISABLE_ECO_ALGO_TRIGGER) , _measuredSpeed(0.0) { } SpeedLimiter::~SpeedLimiter() { } void SpeedLimiter::ipControllerTransferFunction() { // write voltages at beginning of function to prevent jitter // voltage will be delayed by 1 call which is okay. // pc->printf("H\n\r"); const float voutHi = getOutputPedalVoltageHi(); const float voutLo = getOutputPedalVoltageLo(); // pc->printf("Hi: %f\t Lo: %f\n\r", voutHi, voutLo); writeAdcPedalHi(voutHi); writeAdcPedalLo(voutLo); // calculate voltage for next call const float referenceSpeed = getReferenceSpeed(); float outputAdcVoltageHi = 0; float outputAdcVoltageLo = 0; if(referenceSpeed == DISABLE_ECO_ALGO_TRIGGER) { outputAdcVoltageHi = ecoDisabledAlgorithm(); } else { outputAdcVoltageHi = ecoEnabledAlgorithm(); } // outputAdcVoltageHi = ADC_OUTPUT_MAX_VALUE / 2; outputAdcVoltageLo = outputAdcVoltageHi / 2; // pc->printf("tmpHi: %f\t tmpLo: %f\n\r", outputAdcVoltageHi, outputAdcVoltageLo); setOutputPedalVoltageHi(outputAdcVoltageHi); setOutputPedalVoltageLo(outputAdcVoltageLo); } // Returns voltage read on analog input port chosen for pedal input 1 float SpeedLimiter::readAdcPedalHi() { const float decPcValue = _pedalInHi.read(); const float voltage = decPcValue * ADC_INPUT_MAX_VALUE; return voltage; } // Returns voltage read on analog input port chosen for pedal input 2 float SpeedLimiter::readAdcPedalLo() { const float decPcValue = _pedalInLo.read(); const float voltage = decPcValue * ADC_INPUT_MAX_VALUE; return voltage; } // Accepts a value in volts, converts to % and sets ADC for pedal output 1 void SpeedLimiter::writeAdcPedalHi(const float voltage) { const float boundedValue = boundValue(voltage, PEDAL_HI_MIN_VALUE, PEDAL_HI_MAX_VALUE); const float decValue = voltageToDecimal(boundedValue, ADC_OUTPUT_MAX_VALUE); _pedalOutHi.write(decValue); } // Accepts a value in volts, converts to % and sets ADC for pedal output 2 void SpeedLimiter::writeAdcPedalLo(const float voltage) { const float boundedValue = boundValue(voltage, PEDAL_LO_MIN_VALUE, PEDAL_LO_MAX_VALUE); const float decValue = voltageToDecimal(boundedValue, ADC_OUTPUT_MAX_VALUE); _pedalOutLo.write(decValue); } float SpeedLimiter::ecoDisabledAlgorithm() { const float value = readAdcPedalHi(); return value; } float SpeedLimiter::ecoEnabledAlgorithm() { // valeurs anterieures static double x1 = 0.0; static double y1 = 0.0; // constantes calcules avec matlab const double b0 = 10793.0; const double b1 = -8513.5; const double a1 = -1.0; const double TRANS_k_gear = 20.5; //Gearbox ratio const double TRANS_eff = 0.91; // Efficiency of the transmission const double TRANS_R_wheel = 0.3175; // Radius of the wheel [m] const double TRANS_k = TRANS_k_gear/TRANS_R_wheel; // Global ratio of the transmission [m] const double G_forceToTorque = (1/TRANS_k) * TRANS_eff; // calculs double y0 = 0.0; if (readAdcPedalHi() > 1) { const float Vm = getMeasuredSpeed(); const float Vd = getReferenceSpeed(); const double x0 = Vd - Vm; y0 = ( (-a1*y1) + (b0*x0) + (b1*x1) ) * G_forceToTorque; // update des valeurs anterieurs x1 = x0; y1 = y0; } pc->printf("Vm: %f\t Vd: %f\t Eh: %f\t El\n\r", Vm, Vd, y0, y0/2); return (float)y0; } // Returns 'value' bounded between 'lowerBound' and 'upperBound' float SpeedLimiter::boundValue(float value, const float lowerBound, const float upperBound) { if(value < lowerBound) { value = lowerBound; } else if(value > upperBound) { value = upperBound; } return value; } // Returns "value/reference" as a percentage in decimal form (0.5 for 50%) float SpeedLimiter::voltageToDecimal(const float voltage, const float reference) { return voltage/reference; }