battery stuff and speed stuff

bikecontroller/bikecontroller.ino

@@ -7,13 +7,17 @@
 #define PIN_THERM A7
 #define PIN_BAT A2
 
-#define MIN_SPEED 1000
+#define MIN_SPEED 1100
 #define MAX_SPEED 1700
-#define ZERO_SPEED 900
+#define ZERO_SPEED 1000
+//#define MIN_SPEED 90
+//#define MAX_SPEED 180
+//#define ZERO_SPEED 90
+#define ACCEL 10
 #define POT_MIN 220
 #define POT_MAX 1023
 
-#define STEP 10
+#define STEP 5
 #define DISPLAY_I2C 0x3C
 #define DISPLAY_CHARS 11
 #define BAT_MAX 4.2
@@ -52,7 +56,7 @@ void setup() {
   pinMode(PIN_BAT, INPUT);
   
   esc.attach(PIN_ESC);
-  esc.writeMicroseconds(ZERO_SPEED);
+  esc.writeMicroseconds(MIN_SPEED);
   delay(4000);
   Serial.println("ready");
 }
@@ -69,6 +73,8 @@ float measureTemp() {
   return celsius;
 }
 
+int batteryOk = 1;
+float voltLim = ((float)BAT_MIN * (float)BAT_CELLS) / (float)BAT_MULT;
 int measureBat() {
   int val = analogRead(PIN_BAT);
   float volt = val * (5.0 / 1023.0);
@@ -76,6 +82,9 @@ int measureBat() {
   float minV = BAT_MIN * BAT_CELLS;
   float maxV = BAT_MAX * BAT_CELLS;
 
+  if (volt <= voltLim)
+    batteryOk = 0;
+
   if (currV < minV)
     currV = minV;
   if (currV > maxV)
@@ -103,7 +112,7 @@ void showStats(int actualSpeed, int potmeterVal) {
     return;
   statsCount = STATS_TIMER + 1;
   
-  int throttle = ((double)(actualSpeed - MIN_SPEED) / (double)(MAX_SPEED - MIN_SPEED)) * 100;
+  int throttle = ((double)(actualSpeed - ZERO_SPEED) / (double)(MAX_SPEED - ZERO_SPEED)) * 100;
 
 #ifdef USE_DISPLAY
   display.setCursor(0, 0);
@@ -116,34 +125,47 @@ void showStats(int actualSpeed, int potmeterVal) {
   String tmp = String(round(measureTemp()))+"C";
   String bat = String(measureBat())+"%";
 
-  printTwo(thr, pot+" ");
+  if (batteryOk) {
+    //printTwo(thr, pot+" ");
+    printTwo(thr, spd+" ");
+  } else {
+    printTwo("Battery", ":( ");
+  }
   printTwo(tmp, bat+" ");
 }
 
+int currentSpeed = ZERO_SPEED;
 void loop() {
   int pressed = 0;
   int reachedMax = 0;
 
   pressed = 1;
   int pot = analogRead(PIN_POT);
-  int speed = map(pot, POT_MIN, POT_MAX, 0, MAX_SPEED - MIN_SPEED);
+  int speed = map(pot, POT_MIN, POT_MAX, 0, MAX_SPEED - ZERO_SPEED);
   speed = speed / STEP;
   speed = speed * STEP;
 
-  int actualSpeed = speed + MIN_SPEED;
+  int actualSpeed = speed + ZERO_SPEED;
+  if (actualSpeed > currentSpeed) {
+    if (currentSpeed < MIN_SPEED)
+      currentSpeed = MIN_SPEED;
+    else
+      currentSpeed += ACCEL;
+  } else {
+    currentSpeed -= ACCEL;
+  }
 
-  if (abs(actualSpeed - ZERO_SPEED) < THRESHOLD)
-    actualSpeed = ZERO_SPEED;
-  else if (actualSpeed > MAX_SPEED)
-    actualSpeed = MAX_SPEED;
-  else if (actualSpeed < MIN_SPEED)
-    actualSpeed = MIN_SPEED;
+  if (currentSpeed > MAX_SPEED)
+    currentSpeed = MAX_SPEED;
+  else if (currentSpeed < ZERO_SPEED)
+    currentSpeed = ZERO_SPEED;
 
-  if (actualSpeed != prev) {
-    esc.writeMicroseconds(actualSpeed);
-    prev = actualSpeed;
-  }
+  //if (currentSpeed != prev) {
+    esc.writeMicroseconds(currentSpeed);
+    //esc.write(currentSpeed);
+    prev = currentSpeed;
+  //}
   
-  showStats(actualSpeed, pot);
+  showStats(currentSpeed, pot);
   delay(DELAY);
 }