Diff: main.cpp

Revision:

20:029a58eb24ab

Parent:

19:085eb0579185

Child:

21:2bf65c29a3c6

--- a/main.cpp	Fri Apr 15 21:35:50 2016 +0000
+++ b/main.cpp	Fri Apr 15 21:54:18 2016 +0000
@@ -23,16 +23,18 @@
 int rpmPrintFlag = 0;
 int currentRPM;
 
-float pwmMax = 0.9;
+int ADCCountMax = 1000; // tune for responsiveness vs. stability, higher value -> less responsive -> more stable
+float pwmMax = 0.9; // tune for max pwmDuty. higher value -> more power available
 float pwmDuty;
 int stall = 0;
 int reverse = 0;
 
 int spinTickerCounter = 0;
+int spinTickerPeriod_us = 50; // tune for how often hall sensors are checked
 int ticksPerHall = 0;
 int prevHallState = 0;
 
-int pole_pairs = 2;
+int pole_pairs = 2; // tune for proper mech rpm calculation
 
 void rpmCalc()
 {
@@ -203,22 +205,24 @@
     int h3 = hallC.read();
     prevHallState = (h1 << 2) + (h2 << 1) + h3;
 
-    spinTicker.attach_us(&jumpStart, 50);
+    spinTicker.attach_us(&jumpStart, spinTickerPeriod_us);
     float ADCSum = 0;
     int ADCCount = 0;
     while(1) {
         led = !led;
-        ADCSum += pot.read();
-        ADCCount++;
-        if(ADCCount == 20) {
-            pwmDuty = (ADCSum/20) * pwmMax;
-            ADCSum = 0;
-            ADCCount = 0;
+        if(ADCCount == ADCCountMax) {
+            ADCSum = ADCSum - (ADCSum / ADCCountMax);
+            ADCSum += pot.read();
+            pwmDuty = (ADCSum/ADCCountMax) * pwmMax;
+        }
+        else
+        {
+            ADCSum += pot.read();
+            ADCCount++;    
         }
         if(rpmPrintFlag == 1) {
             printf("%d rpm; %f duty; reverse: %d; ticksPerHall = %d\r\n", currentRPM, pwmDuty, reverse, ticksPerHall);
             rpmPrintFlag = 0;
         }
-        wait(0.05);
     }
 }