Railway Challenge / Mbed 2 deprecated challenge-ChaiUpdated-AutostopTest-30Throttle

This is a test from 30%Throttle to stop, using full service brake

Dependencies:   mbed millis

dashboard.cpp@33:8286cc0ebfaf, 2022-06-20 (annotated)

Committer:
jamesmcildowietfl
Date:
Mon Jun 20 09:55:35 2022 +0000
Revision:
33:8286cc0ebfaf
Parent:
22:4cf934f6e989 
30% Throttle, terminal velocity, then grade level 2 brake, dont use EM

Who changed what in which revision?

UserRevisionLine numberNew contents of line
rwcjoliver 0:4788e1df7b55 1 #include <mbed.h>
rwcjoliver 0:4788e1df7b55 2 #include "definitions.h"
rwcjoliver 0:4788e1df7b55 3 #include "dashboard.h"
rwcjoliver 0:4788e1df7b55 4
rwcjoliver 0:4788e1df7b55 5 Dashboard::Dashboard(InterruptIn& hallSensor) : _hallSensor(hallSensor) { // CONSTRUCTOR
rwcjoliver 0:4788e1df7b55 6
rwcjoliver 0:4788e1df7b55 7 _hallSensor.rise(this, &Dashboard::tachoInterrupt); // Register everytime hall sensor is detected
rwcjoliver 0:4788e1df7b55 8 tachoTimer.start(); // Timer for counting time between hall sensor triggers
rwcjoliver 0:4788e1df7b55 9
jamesmcildowietfl 22:4cf934f6e989 10 numberOfMagnets = 8; // How many magnets on the wheels
rwcjoliver 0:4788e1df7b55 11
rwcjoliver 0:4788e1df7b55 12 currentSpeed = 0.00f;
rwcjoliver 0:4788e1df7b55 13 passedTime_ms = 0.00f;
rwcjoliver 0:4788e1df7b55 14 passedTime = 0.00f;
rwcjoliver 0:4788e1df7b55 15 lastTime = 0.00f;
rwcjoliver 0:4788e1df7b55 16 wheelCircumference = 0.73513268f; // in meters. Radius = 0.117m
rwcjoliver 0:4788e1df7b55 17
rwcjoliver 0:4788e1df7b55 18 currentDistance = 0.00f;
rwcjoliver 0:4788e1df7b55 19 tachoCounter = 0;
rwcjoliver 0:4788e1df7b55 20 currentTime = 0;
rwcjoliver 0:4788e1df7b55 21 }
rwcjoliver 0:4788e1df7b55 22
rwcjoliver 0:4788e1df7b55 23 void Dashboard::tachoInterrupt() {
rwcjoliver 0:4788e1df7b55 24
rwcjoliver 0:4788e1df7b55 25 currentTime = tachoTimer.read_ms();
rwcjoliver 0:4788e1df7b55 26 passedTime = (currentTime - lastTime) / 1000;
rwcjoliver 0:4788e1df7b55 27 pc.printf("Passed Time: %.2f\r\n", passedTime);
rwcjoliver 0:4788e1df7b55 28
rwcjoliver 0:4788e1df7b55 29 // if (passedTime > 0.03) {
rwcjoliver 0:4788e1df7b55 30
rwcjoliver 0:4788e1df7b55 31 // tachoCounter++; // Increment tacho counter = number of strips detected
rwcjoliver 0:4788e1df7b55 32 //pc.printf("count = %d\r\n", tachoCounter);
rwcjoliver 0:4788e1df7b55 33
rwcjoliver 0:4788e1df7b55 34 // getCurrentSpeed();
rwcjoliver 0:4788e1df7b55 35 // // PASSED TIME IN ms
rwcjoliver 0:4788e1df7b55 36 // passedTime_ms = tachoTimer.read_ms() - lastTime;// - 21; // 20ms propogation delay
rwcjoliver 0:4788e1df7b55 37 //
rwcjoliver 0:4788e1df7b55 38 // if (passedTime_ms > 100) { // IGNORE SHORT PULSES
rwcjoliver 0:4788e1df7b55 39 // lastTime = tachoTimer.read_ms();
rwcjoliver 0:4788e1df7b55 40 currentDistance += (wheelCircumference / numberOfMagnets);
rwcjoliver 0:4788e1df7b55 41 pc.printf("Current Distance = %.2f\r\n", currentDistance);
rwcjoliver 0:4788e1df7b55 42
rwcjoliver 0:4788e1df7b55 43 // passedTime = passedTime_ms / 1000.00f;
rwcjoliver 0:4788e1df7b55 44 //// pc.printf("Passed TimeMS Int: %d\r\n", passedTime_ms);
rwcjoliver 0:4788e1df7b55 45 //// pc.printf("Passed Time Int: %.2f\r\n", passedTime);
rwcjoliver 0:4788e1df7b55 46 //// pc.printf("Tacho Interrupt\r\n");
rwcjoliver 0:4788e1df7b55 47 // }
rwcjoliver 0:4788e1df7b55 48
rwcjoliver 0:4788e1df7b55 49 // pc.printf("count = %d\r\n", tachoCounter);
rwcjoliver 0:4788e1df7b55 50
rwcjoliver 0:4788e1df7b55 51 wheelFreq = 1 / (passedTime * numberOfMagnets);
rwcjoliver 0:4788e1df7b55 52 // pc.printf("wheelFreq = %.2f\r\n", wheelFreq);
rwcjoliver 0:4788e1df7b55 53
rwcjoliver 0:4788e1df7b55 54 // tachoCounter = 0; // RESET
rwcjoliver 0:4788e1df7b55 55 lastTime = currentTime;
rwcjoliver 0:4788e1df7b55 56
rwcjoliver 0:4788e1df7b55 57
rwcjoliver 0:4788e1df7b55 58 if (passedTime > 0.00f) { // Stops dividing by 0
rwcjoliver 0:4788e1df7b55 59
rwcjoliver 0:4788e1df7b55 60 // 1 Hz FREQ = 1 RPS -> x60 for minutes
rwcjoliver 0:4788e1df7b55 61 float rpm = wheelFreq * 60.00f; /// MAX RPM AT 15KPH = 340RPM
rwcjoliver 0:4788e1df7b55 62 // pc.printf("RPM = %.2f\r\n",rpm);
rwcjoliver 0:4788e1df7b55 63
rwcjoliver 0:4788e1df7b55 64 // if (rpm < 15.0f) {
rwcjoliver 0:4788e1df7b55 65
rwcjoliver 0:4788e1df7b55 66 float kph = (wheelCircumference * rpm * (60.00f / 1000.00f));
rwcjoliver 0:4788e1df7b55 67 printf("Speed = %.2f\r\n", kph);
rwcjoliver 0:4788e1df7b55 68
rwcjoliver 0:4788e1df7b55 69 // if (kph > 17.0f) {
rwcjoliver 0:4788e1df7b55 70 // currentSpeed = 0;
rwcjoliver 0:4788e1df7b55 71 // }
rwcjoliver 0:4788e1df7b55 72 // else {
rwcjoliver 0:4788e1df7b55 73 currentSpeed = int(kph);
rwcjoliver 0:4788e1df7b55 74 // }
rwcjoliver 0:4788e1df7b55 75 // }
rwcjoliver 0:4788e1df7b55 76
rwcjoliver 0:4788e1df7b55 77
rwcjoliver 0:4788e1df7b55 78 // }
rwcjoliver 0:4788e1df7b55 79 // else {
rwcjoliver 0:4788e1df7b55 80 // currentSpeed = 0;
rwcjoliver 0:4788e1df7b55 81 //
rwcjoliver 0:4788e1df7b55 82 // }
rwcjoliver 0:4788e1df7b55 83 }
rwcjoliver 0:4788e1df7b55 84
rwcjoliver 0:4788e1df7b55 85 }
rwcjoliver 0:4788e1df7b55 86
rwcjoliver 0:4788e1df7b55 87 void Dashboard::getCurrentSpeed() {
rwcjoliver 0:4788e1df7b55 88
rwcjoliver 0:4788e1df7b55 89 // USE THESE
rwcjoliver 0:4788e1df7b55 90 // tachoCounter
rwcjoliver 0:4788e1df7b55 91 // currentTime
rwcjoliver 0:4788e1df7b55 92 // lastTime
rwcjoliver 0:4788e1df7b55 93
rwcjoliver 0:4788e1df7b55 94 currentTime = tachoTimer.read_ms();
rwcjoliver 0:4788e1df7b55 95 if ((currentTime - lastTime) > 5000) {
rwcjoliver 0:4788e1df7b55 96 currentSpeed = 0;
rwcjoliver 0:4788e1df7b55 97 }
rwcjoliver 0:4788e1df7b55 98 // passedTime = (currentTime - lastTime) / 1000;
rwcjoliver 0:4788e1df7b55 99 // pc.printf("Passed Time: %.2f\r\n", passedTime);
rwcjoliver 0:4788e1df7b55 100
rwcjoliver 0:4788e1df7b55 101 //pc.printf("count = %d\r\n", tachoCounter);
rwcjoliver 0:4788e1df7b55 102 //
rwcjoliver 0:4788e1df7b55 103 // wheelFreq = tachoCounter / (passedTime * numberOfMagnets);
rwcjoliver 0:4788e1df7b55 104 // pc.printf("wheelFreq = %.2f\r\n", wheelFreq);
rwcjoliver 0:4788e1df7b55 105 //
rwcjoliver 0:4788e1df7b55 106 // tachoCounter = 0; // RESET
rwcjoliver 0:4788e1df7b55 107 // lastTime = currentTime;
rwcjoliver 0:4788e1df7b55 108 //
rwcjoliver 0:4788e1df7b55 109 //
rwcjoliver 0:4788e1df7b55 110 // if (passedTime > 0.00f) { // Stops dividing by 0
rwcjoliver 0:4788e1df7b55 111 // PASSED TIME IN SECONDS = 1000 / TIME IN ms
rwcjoliver 0:4788e1df7b55 112 // FREQ = 1/T = 1 * 1000 / T
rwcjoliver 0:4788e1df7b55 113
rwcjoliver 0:4788e1df7b55 114 // pc.printf("Passed Time Calc: %.2f\r\n", passedTime);
rwcjoliver 0:4788e1df7b55 115
rwcjoliver 0:4788e1df7b55 116 // if ((tachoTimer.read_ms() / 1000.00f) - lastTime < 10.00f) {
rwcjoliver 0:4788e1df7b55 117 // wheelFreq = 1 / (numberOfMagnets * passedTime);
rwcjoliver 0:4788e1df7b55 118 //// pc.printf("wheelFreq set\r\n");
rwcjoliver 0:4788e1df7b55 119 // }
rwcjoliver 0:4788e1df7b55 120 // else {
rwcjoliver 0:4788e1df7b55 121 // wheelFreq = 0.00f; // Set frequency to zero if not sensed for more than 10s
rwcjoliver 0:4788e1df7b55 122 // passedTime = 0.00f;
rwcjoliver 0:4788e1df7b55 123 //// pc.printf("wheelFreq Zeroed\r\n");
rwcjoliver 0:4788e1df7b55 124 // }
rwcjoliver 0:4788e1df7b55 125
rwcjoliver 0:4788e1df7b55 126
rwcjoliver 0:4788e1df7b55 127 // pc.printf("wheelFreq = %.4f\r\n", wheelFreq);
rwcjoliver 0:4788e1df7b55 128
rwcjoliver 0:4788e1df7b55 129 // 1 Hz FREQ = 1 RPS -> x60 for minutes
rwcjoliver 0:4788e1df7b55 130 // float rpm = wheelFreq * 60.00f; /// MAX RPM AT 15KPH = 340RPM
rwcjoliver 0:4788e1df7b55 131 // pc.printf("RPM = %.2f\r\n",rpm);
rwcjoliver 0:4788e1df7b55 132 //
rwcjoliver 0:4788e1df7b55 133 // // rpm x 60 = rph
rwcjoliver 0:4788e1df7b55 134 // // speed = distance / time
rwcjoliver 0:4788e1df7b55 135 // // kph = rph / (1km x circumference [m])
rwcjoliver 0:4788e1df7b55 136 //
rwcjoliver 0:4788e1df7b55 137 // // kph = 2πr × RPM × (60/1000)
rwcjoliver 0:4788e1df7b55 138 // float kph = wheelCircumference * rpm * (60.00f / 1000.00f);
rwcjoliver 0:4788e1df7b55 139 //// float kph = (rpm * 60.00f) / (1000.00f * wheelCircumference);
rwcjoliver 0:4788e1df7b55 140 //// pc.printf("KM/H = %.2f\r\n",kph);
rwcjoliver 0:4788e1df7b55 141 // if (kph > 15) {
rwcjoliver 0:4788e1df7b55 142 // currentSpeed = 0;
rwcjoliver 0:4788e1df7b55 143 // }
rwcjoliver 0:4788e1df7b55 144 // else {
rwcjoliver 0:4788e1df7b55 145 // currentSpeed = int(kph);
rwcjoliver 0:4788e1df7b55 146 // }
rwcjoliver 0:4788e1df7b55 147 // }
rwcjoliver 0:4788e1df7b55 148 // else {
rwcjoliver 0:4788e1df7b55 149 // currentSpeed = 0;
rwcjoliver 0:4788e1df7b55 150 //
rwcjoliver 0:4788e1df7b55 151 // }
rwcjoliver 0:4788e1df7b55 152 }