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Small additions to rpm

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This commit is contained in:
Lukas Bachschwell 2018-05-08 23:32:11 +02:00
parent a17572fa1a
commit 0c3d258bd0
1 changed files with 10 additions and 10 deletions
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20
src/rpm.h
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@ -61,8 +61,8 @@ void initRPMPins() {
void measureRpm(void * parameter) { void measureRpm(void * parameter) {
while(true) { while(true) {
if(millis()-rpmTimer>250) { if(millis()-rpmTimer>250) {
rpmRight = counter[false]*4; rpmRight = constrain(counter[0], 0, 350)*4;
rpmLeft = counter[true]*4; rpmLeft = constrain(counter[1], 0, 350)*4;
kmh = (wheelCircumference/100) * (rpmRight+rpmLeft)/2 * 60/1000; kmh = (wheelCircumference/100) * (rpmRight+rpmLeft)/2 * 60/1000;
sendSpeed = abs(floor(kmh)); sendSpeed = abs(floor(kmh));
@ -73,16 +73,16 @@ void measureRpm(void * parameter) {
rpmTimer = millis(); rpmTimer = millis();
} }
int state = getState(false); int state = getState(0);
if(lastState[false] != state) { if(lastState[0] != state) {
counter[false] = counter[false] + relativeLookup[lastState[false]-1][state-1]; counter[0] = counter[0] + relativeLookup[lastState[0]-1][state-1];
lastState[false] = state; lastState[0] = state;
} }
state = getState(true); state = getState(1);
if(lastState[true] != state) { if(lastState[1] != state) {
counter[true] = counter[true] + relativeLookup[lastState[true]-1][state-1]; counter[1] = counter[1] + relativeLookup[lastState[1]-1][state-1];
lastState[true] = state; lastState[1] = state;
} }
vTaskDelay(pdMS_TO_TICKS(1)); vTaskDelay(pdMS_TO_TICKS(1));