File content as of revision 7:15e6fc689368:

#include "Regler.h"

Regler::Regler(Phaserunner& vorderrad, Phaserunner& hinterrad, Phaserunner& linkspedal, Phaserunner& rechtspedal, Encoder& encoder):
    vorderrad(vorderrad), hinterrad(hinterrad), linkspedal(linkspedal), rechtspedal(rechtspedal), encoder(encoder){

    this->torqueRatio = 50;
    this->recupRatio = 50;
    this->ticker.attach(this,&Regler::ReglerCalculate,0.005);
}

void Regler::setSpeed(uint8_t speed){

}

void Regler::setTorqueProportion(uint8_t torqueRatio){
    this->torqueRatio = torqueRatio > 100 ? 100 : recupRatio;
}

void Regler::setRecuperationProportion(uint8_t recupRatio){
    this->recupRatio = recupRatio > 100 ? 100 : recupRatio;
}

void Regler::setTorqueMotors(uint8_t torque){
    if( this->torqueRatio >= 50 ){
        this->hinterrad.setTorque(torque);
        this->vorderrad.setTorque(torque * (100-this->torqueRatio) / this->torqueRatio);
    }
    else{
        this->vorderrad.setTorque(torque);
        this->hinterrad.setTorque(torque * this->torqueRatio / this->torqueRatio);
    }
}

void Regler::setTorquePedals(uint8_t torque){
    this->linkspedal.setTorque(torque);
    this->rechtspedal.setTorque(torque);
}

void Regler::setRecuperationMotors(uint8_t recuperation){ //TODO: Fix
    if( this->recupRatio >= 50 ){
        this->hinterrad.setRecuperation(recuperation);
        this->vorderrad.setRecuperation(recuperation * (100-this->recupRatio) / this->recupRatio);
    }
    else{
        this->vorderrad.setRecuperation(recuperation);
        this->hinterrad.setRecuperation(recuperation * this->recupRatio / this->recupRatio);
    }
}

void Regler::setRecuperationPedals(uint8_t recuperation){
    this->rechtspedal.setRecuperation(recuperation);
    this->linkspedal.setRecuperation(recuperation);
}

void Regler::ReglerCalculate(void){
    float Angle, RPM, Acc;                          // Value form Encoder
    float F_RPM, F_Acc;                             // Filtered Values
    static float F_RPMOld = 0.0f, F_AccOld = 0.0f;  // Old Value
    float T_ab = 0.005;                             // Abtastzeit: 5ms
    float F_ab = 1/T_ab;                            // Abtastfrequenz
    float Omega_cRPM = 2*PI*F_ab/150;               // 150 Mal kleiner als die Abtastfrequenz
    float sfRPM = (Omega_cRPM*T_ab)/(1+Omega_cRPM*T_ab);//smoothing factor Lowpass RPM
    float Omega_cAcc = 2*PI*F_ab/200;               // 200 Mal kleiner als die Abtastfrequenz
    float sfAcc = (Omega_cAcc*T_ab)/(1+Omega_cAcc*T_ab);//smoothing factor Lowpass Acceleration
    float R, a, b, beta, phi;                       // Ellipse paramter
    
     
    //Read Value from Encoder
    Angle = encoder.readAngle();
    RPM = encoder.readRPM();
    Acc = encoder.readAcceleration();
    // LowPass Filter RPM
    F_RPM = sfRPM * RPM + (1-sfRPM)*F_RPMOld;
            
    // LowPass Filter ACC
    F_Acc = sfAcc * Acc + (1-sfAcc)*F_AccOld;
    
    // Ellipse
    a = 1.0f; // % of Torque Max 0..1
    b = 0.6f; // % of Torque Max 0..1
    beta = 0.52f; // 30°
    phi = Angle;  
    R = sqrt(pow(a,2) * pow(sin(beta + phi),2) + pow(b,2) * pow(cos(beta + phi),2)); // Torque in function of the Ellipse parameters
    
    
    
    
    // Store Old Values
    F_RPMOld = F_RPM;
    F_AccOld = F_Acc;
}