From c961669895da2244ce7da343840639f56db023d5 Mon Sep 17 00:00:00 2001
From: Thefeli73 <thefeli73@hotmail.com>
Date: Wed, 14 Apr 2021 02:50:15 +0200
Subject: [PATCH] updated getspeed, now working!!

also gets timings from var so works even if we change timings
---
 EENX15_LQR/EENX15_LQR.ino | 13 ++++++++-----
 1 file changed, 8 insertions(+), 5 deletions(-)

diff --git a/EENX15_LQR/EENX15_LQR.ino b/EENX15_LQR/EENX15_LQR.ino
index 353790c..6469b6f 100644
--- a/EENX15_LQR/EENX15_LQR.ino
+++ b/EENX15_LQR/EENX15_LQR.ino
@@ -120,12 +120,15 @@ void loop() {
   }
 }
 void getSpeed() {
-  float alpha = 2.0 / (20.0 + 1.0); //alfa aka EMA length. 10 length = 20*20ms=0.2s
+  float alpha = 2.0 / (5.0 + 1.0); //alfa aka EMA length. 3 length = 3*80ms=0.24s
+  float rpm_const = 1071.43/fastTimer; //60000ms(1min) / ticks per rotation / fasttimer
+  float rps_const = 112.23/fastTimer; //1000ms(1s) / ticks per rotation / fasttimer
+  
   int ticks = countA-countAold;
-  float rpm_new = ticks*50*60/56.0; //ticks * 50 hz * 60s / ticks per rotation
-  float rps_new = ticks*50/8.91; //ticks * 50hz/ ticks per rad  
-  rpm = rpm*(1-alpha)+rpm_new*alpha;
-  rps = rps*(1-alpha)+rps_new*alpha;
+  float rpm_new = ticks*rpm_const;
+  float rps_new = ticks*rps_const;
+  rpm = rpm * (1-alpha) + rpm_new * alpha;
+  rps = rps * (1-alpha) + rps_new * alpha;
   countAold = countA;
 }
 void printInfo(){