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Dependencies:   mbed

Fork of RobotCompleto by Rafael Caro

calculaVelocidad.cpp@0:bd4170087cf1, 2015-05-04 (annotated)

Committer:
Racafe
Date:
Mon May 04 08:39:07 2015 +0000
Revision:
0:bd4170087cf1
Todo a?adido;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Racafe 0:bd4170087cf1 1
Racafe 0:bd4170087cf1 2 #include "calculaVelocidad.h"
Racafe 0:bd4170087cf1 3 #include "main.h"
Racafe 0:bd4170087cf1 4
Racafe 0:bd4170087cf1 5 double velocidadActual=0.0;
Racafe 0:bd4170087cf1 6 double historialVelocidades[]={0.0,0.0,0.0};
Racafe 0:bd4170087cf1 7 int nominado = 0;
Racafe 0:bd4170087cf1 8
Racafe 0:bd4170087cf1 9 double suavizaVelocidad(double velocidad){
Racafe 0:bd4170087cf1 10 double res= velocidad*0.7+historialVelocidades[0]*0.1+historialVelocidades[1]*0.1+historialVelocidades[0]*0.1;
Racafe 0:bd4170087cf1 11 return res;
Racafe 0:bd4170087cf1 12 }
Racafe 0:bd4170087cf1 13
Racafe 0:bd4170087cf1 14
Racafe 0:bd4170087cf1 15 //A partir de las muescas de la rueda, calcula la velocidad en km/h
Racafe 0:bd4170087cf1 16 double calculaVelocidad(int periodo, int acumulador){
Racafe 0:bd4170087cf1 17 double minutos = periodo / 60000.0;
Racafe 0:bd4170087cf1 18 double revoluciones = acumulador / 20.0;
Racafe 0:bd4170087cf1 19 double revolucionesporMinuto = revoluciones/minutos;
Racafe 0:bd4170087cf1 20 double velocidad = revolucionesporMinuto*3.4*2*3.141592/60/100*3.6;
Racafe 0:bd4170087cf1 21 velocidad = suavizaVelocidad(velocidad);
Racafe 0:bd4170087cf1 22 historialVelocidades[nominado]=velocidad;
Racafe 0:bd4170087cf1 23 nominado++;
Racafe 0:bd4170087cf1 24 if(nominado >= 3){
Racafe 0:bd4170087cf1 25 nominado = 0;
Racafe 0:bd4170087cf1 26 }
Racafe 0:bd4170087cf1 27
Racafe 0:bd4170087cf1 28 velocidadActual = velocidad;
Racafe 0:bd4170087cf1 29
Racafe 0:bd4170087cf1 30 return velocidad;
Racafe 0:bd4170087cf1 31 }
Racafe 0:bd4170087cf1 32
Racafe 0:bd4170087cf1 33
Racafe 0:bd4170087cf1 34
Racafe 0:bd4170087cf1 35