dashboard.cpp

00001 #include <mbed.h>
00002 #include "definitions.h"
00003 #include "dashboard.h"
00004 
00005 Dashboard::Dashboard(InterruptIn& hallSensor) : _hallSensor(hallSensor) {    // CONSTRUCTOR
00006     
00007     _hallSensor.rise(this, &Dashboard::tachoInterrupt);           // Register everytime hall sensor is detected
00008     tachoTimer.start();                         // Timer for counting time between hall sensor triggers
00009     
00010     numberOfMagnets = 8;    // How many magnets on the wheels
00011     
00012     currentSpeed = 0.00f;
00013     passedTime_ms = 0.00f;
00014     passedTime = 0.00f;
00015     lastTime = 0.00f;
00016     wheelCircumference = 0.73513268f; // in meters. Radius = 0.117m
00017     
00018     currentDistance = 0.00f;
00019     tachoCounter = 0;
00020     currentTime = 0;
00021 }
00022 
00023 void Dashboard::tachoInterrupt() {
00024     
00025     currentTime = tachoTimer.read_ms();
00026     passedTime = (currentTime - lastTime) / 1000;
00027     pc.printf("Passed Time: %.2f\r\n", passedTime);
00028     
00029 //    if (passedTime > 0.03) {
00030     
00031 //        tachoCounter++;     // Increment tacho counter = number of strips detected
00032         //pc.printf("count = %d\r\n", tachoCounter);
00033         
00034     //    getCurrentSpeed();
00035     //    //   PASSED TIME IN ms
00036     //    passedTime_ms = tachoTimer.read_ms() - lastTime;// - 21;  // 20ms propogation delay
00037     //    
00038     //    if (passedTime_ms > 100) { // IGNORE SHORT PULSES
00039     //        lastTime = tachoTimer.read_ms();
00040             currentDistance += (wheelCircumference / numberOfMagnets);
00041             pc.printf("Current Distance = %.2f\r\n", currentDistance);
00042             
00043     //        passedTime = passedTime_ms / 1000.00f;
00044     ////        pc.printf("Passed TimeMS Int: %d\r\n", passedTime_ms);
00045     ////        pc.printf("Passed Time Int: %.2f\r\n", passedTime);
00046     ////        pc.printf("Tacho Interrupt\r\n");
00047     //    }
00048         
00049 //        pc.printf("count = %d\r\n", tachoCounter);
00050         
00051         wheelFreq = 1 / (passedTime * numberOfMagnets);
00052 //        pc.printf("wheelFreq = %.2f\r\n", wheelFreq);
00053         
00054 //        tachoCounter = 0;   // RESET
00055         lastTime = currentTime;
00056         
00057         
00058         if (passedTime > 0.00f) {    // Stops dividing by 0
00059     
00060             // 1 Hz FREQ = 1 RPS -> x60 for minutes
00061             float rpm = wheelFreq * 60.00f;       /// MAX RPM AT 15KPH = 340RPM
00062 //            pc.printf("RPM = %.2f\r\n",rpm);
00063             
00064     //        if (rpm < 15.0f) {
00065             
00066                 float kph = (wheelCircumference * rpm * (60.00f / 1000.00f));
00067                 printf("Speed = %.2f\r\n", kph);
00068         
00069 //                if (kph > 17.0f) {
00070 //                    currentSpeed = 0;
00071 //                }
00072 //                else {
00073                 currentSpeed = int(kph);
00074 //                }
00075     //        }
00076             
00077             
00078 //        }
00079 //        else {
00080 //            currentSpeed = 0;
00081 //             
00082 //        }
00083     }
00084 
00085 }
00086 
00087 void Dashboard::getCurrentSpeed() {
00088     
00089     // USE THESE
00090 //    tachoCounter
00091 //    currentTime
00092 //    lastTime
00093 
00094     currentTime = tachoTimer.read_ms();
00095     if ((currentTime - lastTime) > 5000) {
00096         currentSpeed = 0;
00097     }
00098 //    passedTime = (currentTime - lastTime) / 1000;
00099 //    pc.printf("Passed Time: %.2f\r\n", passedTime);
00100     
00101     //pc.printf("count = %d\r\n", tachoCounter);
00102 //    
00103 //    wheelFreq = tachoCounter / (passedTime * numberOfMagnets);
00104 //    pc.printf("wheelFreq = %.2f\r\n", wheelFreq);
00105 //    
00106 //    tachoCounter = 0;   // RESET
00107 //    lastTime = currentTime;
00108 //    
00109 //    
00110 //    if (passedTime > 0.00f) {    // Stops dividing by 0
00111         // PASSED TIME IN SECONDS = 1000 / TIME IN ms
00112         // FREQ = 1/T = 1 * 1000 / T
00113         
00114 //        pc.printf("Passed Time Calc: %.2f\r\n", passedTime);
00115         
00116 //        if ((tachoTimer.read_ms() / 1000.00f) - lastTime < 10.00f) {
00117 //             wheelFreq = 1 / (numberOfMagnets * passedTime);
00118 ////             pc.printf("wheelFreq set\r\n");
00119 //        }
00120 //        else {
00121 //            wheelFreq = 0.00f;  // Set frequency to zero if not sensed for more than 10s
00122 //            passedTime = 0.00f;
00123 ////            pc.printf("wheelFreq Zeroed\r\n"); 
00124 //        }
00125        
00126                 
00127 //        pc.printf("wheelFreq = %.4f\r\n", wheelFreq);
00128         
00129         // 1 Hz FREQ = 1 RPS -> x60 for minutes
00130 //        float rpm = wheelFreq * 60.00f;       /// MAX RPM AT 15KPH = 340RPM
00131 //        pc.printf("RPM = %.2f\r\n",rpm);
00132 //        
00133 //        // rpm x 60 = rph
00134 //        // speed = distance / time
00135 //        // kph = rph / (1km x circumference [m])
00136 //        
00137 //        // kph = 2πr × RPM × (60/1000)
00138 //        float kph = wheelCircumference * rpm * (60.00f / 1000.00f);
00139 ////        float kph = (rpm * 60.00f) / (1000.00f * wheelCircumference);
00140 ////        pc.printf("KM/H = %.2f\r\n",kph);
00141 //        if (kph > 15) {
00142 //            currentSpeed = 0;
00143 //        }
00144 //        else {
00145 //            currentSpeed = int(kph);
00146 //        }
00147 //    }
00148 //    else {
00149 //        currentSpeed = 0;
00150 //         
00151 //    }
00152 }