Diff: main.cpp

Revision:

11:39bd79605827

Parent:

10:b7a44c4a4ef6

diff -r b7a44c4a4ef6 -r 39bd79605827 main.cpp
--- a/main.cpp	Wed May 29 18:57:39 2019 +0000
+++ b/main.cpp	Tue Jun 04 19:03:39 2019 +0000
@@ -78,10 +78,10 @@
     pc.printf("Siamo accesi\n\r");
     wait(1);
     
-    linkspedal.sendBuffer(495,0);
-    rechtspedal.sendBuffer(495,0);
-    vorderrad.sendBuffer(495,0);
-    hinterrad.sendBuffer(495,0);
+    linkspedal.setTorque(0);
+    rechtspedal.setTorque(0);
+    vorderrad.setTorque(0);
+    hinterrad.setTorque(0);
     wait(0.2);
     
     // Pedelec Values
@@ -117,7 +117,7 @@
     
     // PID instance
     float Kp = 1.2, Ki = 40, Kd = 0.0;
-    PID pid(Kp, Ki, Kd, dt);
+    PID pid(Kp, Ki, Kd, dt, true);
     pid.setInputLimits(0.0,200.0);
     pid.setOutputLimits(1.0,100.0);
     pid.setMode(1); //Regulator
@@ -134,13 +134,13 @@
     
     while(!encoder.reset()){
         if(!init){
-           rechtspedal.sendBuffer(495,0.8*4096);
+           rechtspedal.setTorque(80);
            init = true;
            wait(0.04);
-           rechtspedal.sendBuffer(495,0.03*4096);
+           rechtspedal.setTorque(3);
         }
     }
-    rechtspedal.sendBuffer(495,0);
+    rechtspedal.setTorque(0);
     wait(0.1); 
     init = false;
      float leistungsfaktor = 4.8; // Faktor zwischen Elektrischeleistung und mechanische Leistung %
@@ -216,12 +216,12 @@
             
             // Hilfemoment für Rücktritt steuern
             if(F_RPM < -5.0f && !richtung1){
-                rechtspedal.sendBuffer(495,0.03*4096);
+                rechtspedal.setTorque(3);
                 richtung1 = true;
                 richtung2 = false;
             }
             else if(F_RPM > -3.0f && !richtung2){
-                rechtspedal.sendBuffer(495,0);
+                rechtspedal.setTorque(0);
                 richtung1 = false;
                 richtung2 = true;
             }
@@ -234,14 +234,14 @@
             if(F_RPM > 1.0f && !Bremsen && !recup){
                 torque = (F_PMech / 300.0 * 100)*pedFaktor;
                 if(i%10 == 0 && (torque < (torqueOld*0.95) || torque > (torqueOld * 1.05))) {
-                    vorderrad.sendBuffer(497,0);
-                    hinterrad.sendBuffer(497,0); 
+                    vorderrad.setRecuperation(0);
+                    hinterrad.setRecuperation(0); 
                     // write torque to phaserunner;
-                    //vorderrad.sendBuffer(477,uint16_t((80+(torque))*40.96f));
-                    vorderrad.sendBuffer(495,uint16_t((0.10+(torque/100.0f))*4096));
-                    //hinterrad.sendBuffer(495,uint16_t((0.20+(torque/100.0f))*4096));
-                    //vorderrad.sendBuffer(495,0);
-                    hinterrad.sendBuffer(495,0);
+                    //vorderrad.setRecuperation(uint16_t((80+(torque))*40.96f));
+                    vorderrad.setTorque(uint16_t(10+torque));
+                    //hinterrad.setTorque(uint16_t(20+torque));
+                    //vorderrad.setTorque(0);
+                    hinterrad.setTorque(0);
                     write = 10;
                 torqueOld = torque;
                 printf("State: torque\n\r");
@@ -256,18 +256,18 @@
                writeNull = true;
                write = -10;
                // write 0 to phaserunner
-               vorderrad.sendBuffer(495,0);
-               hinterrad.sendBuffer(495,0);
+               vorderrad.setTorque(0);
+               hinterrad.setTorque(0);
                
             }
             else write = 0; 
             
             if((daumen.getValue() > Phaserunner::MIN_RECUPERATION)&& !recup){
-               vorderrad.sendBuffer(495,0);
-               hinterrad.sendBuffer(495,0);
+               vorderrad.setTorque(0);
+               hinterrad.setTorque(0);
                wait_ms(5);
-               vorderrad.sendBuffer(497,uint16_t((float)daumen.getValue()/100.0f*4096));
-               hinterrad.sendBuffer(497,uint16_t((float)daumen.getValue()/100.0f*4096));
+               vorderrad.setRecuperation(daumen);
+               hinterrad.setRecuperation(daumen);
                printf("State: recup\n\r");
                recup = true;
             }
@@ -277,11 +277,11 @@
             if(Bremsen && !gebremst){
                write = -5;
                // write 0 to phaserunner
-               vorderrad.sendBuffer(495,0);
-               hinterrad.sendBuffer(495,0);
+               vorderrad.setTorque(0);
+               hinterrad.setTorque(0);
                wait_ms(5);
-               vorderrad.sendBuffer(497,uint16_t(0.10f*4096));
-               hinterrad.sendBuffer(497,uint16_t(0.10f*4096));
+               vorderrad.setRecuperation(10);
+               hinterrad.setRecuperation(10);
                printf("State: bremsen\n\r");
                gebremst = true; 
             }
@@ -296,7 +296,7 @@
             float u;
             if(i%200 == 0){
                 i = 0;
-                vorderrad.readBuffer(262);
+                //vorderrad.readBuffer(262);
                 u = vorderrad.getVoltage();
                 printf("P=%.3f, Torque=%.3f , RPM_Ped =%.3f, U=%.2f\n\r",F_PMech,torque,F_RPM,u);
                 //printf("Daumen1: %d, Daumen2: %.2f\n\r",wert1,wert2);