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updated getspeed, now working!!

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also gets timings from var so works even if we change timings
This commit is contained in:
Thefeli73 2021-04-14 02:50:15 +02:00
parent 3b0f8f4faf
commit c961669895
1 changed files with 8 additions and 5 deletions
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13
EENX15_LQR/EENX15_LQR.ino
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@ -120,12 +120,15 @@ void loop() {
} }
} }
void getSpeed() { 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; int ticks = countA-countAold;
float rpm_new = ticks*50*60/56.0; //ticks * 50 hz * 60s / ticks per rotation float rpm_new = ticks*rpm_const;
float rps_new = ticks*50/8.91; //ticks * 50hz/ ticks per rad float rps_new = ticks*rps_const;
rpm = rpm*(1-alpha)+rpm_new*alpha; rpm = rpm * (1-alpha) + rpm_new * alpha;
rps = rps*(1-alpha)+rps_new*alpha; rps = rps * (1-alpha) + rps_new * alpha;
countAold = countA; countAold = countA;
} }
void printInfo(){ void printInfo(){