void MotorController::handleTick() {
MotorControllerConfiguration *config = (MotorControllerConfiguration *)getConfiguration();
//Set status annunciators
if(ready) statusBitfield1 |=1 << 15;else statusBitfield1 &= ~(1 <<15);
if(running) statusBitfield1 |=1 << 14;else statusBitfield1 &= ~(1 <<14);
if(warning) statusBitfield1 |=1 << 10;else statusBitfield1 &= ~(1 <<10);
if(faulted) statusBitfield1 |=1 << 9;else statusBitfield1 &= ~(1 <<9);
//Calculate killowatts and kilowatt hours
mechanicalPower=dcVoltage*dcCurrent/10000; //In kilowatts. DC voltage is x10
if (dcVoltage>nominalVolts && torqueActual>0) {kiloWattHours=1;} //If our voltage is higher than fully charged with no regen, zero our kwh meter
if (milliStamp>millis()) {milliStamp=0;} //In case millis rolls over to zero while running
kiloWattHours+=(millis()-milliStamp)*mechanicalPower;//We assume here that power is at current level since last tick and accrue in kilowattmilliseconds.
milliStamp=millis(); //reset our kwms timer for next check
//Throttle check
Throttle *accelerator = DeviceManager::getInstance()->getAccelerator();
Throttle *brake = DeviceManager::getInstance()->getBrake();
if (accelerator)
throttleRequested = accelerator->getLevel();
if (brake && brake->getLevel() < -10 && brake->getLevel() < accelerator->getLevel()) //if the brake has been pressed it overrides the accelerator.
throttleRequested = brake->getLevel();
//Logger::debug("Throttle: %d", throttleRequested);
if (!donePrecharge)checkPrecharge();
if(skipcounter++ > 30) //A very low priority loop for checks that only need to be done once per second.
{
skipcounter=0; //Reset our laptimer
//Some test simulations if precharge time is set to 12345
if(config->prechargeR==12345)
{
dcVoltage--;
if (torqueActual < -500)
{
torqueActual=20;
}
else
{
torqueActual=-650;
}
if (dcCurrent < 0)
{
dcCurrent=120;
}
else
{
dcCurrent=-65;
}
if (temperatureInverter < config->coolOn*10)
{
temperatureInverter=(config->coolOn+2)*10;
}
else
{
temperatureInverter=(config->coolOff-2)*10;
}
if (throttleRequested < 500)
{
throttleRequested=500;
}
else
{
throttleRequested=0;
}
if(testenableinput)
{
testenableinput=false;
}
else
{
testenableinput=true;
}
if(testreverseinput)
{
testreverseinput=false;
}
else
{
testreverseinput=true;
}
}
coolingcheck();
checkBrakeLight();
checkEnableInput();
checkReverseInput();
checkReverseLight();
//Store kilowatt hours, but only once in awhile.
prefsHandler->write(EEMC_KILOWATTHRS, kiloWattHours);
prefsHandler->saveChecksum();
}
}
void MotorController::handleTick() {
uint8_t forwardSwitch, reverseSwitch;
MotorControllerConfiguration *config = (MotorControllerConfiguration *)getConfiguration();
gearSwitch = GS_FORWARD;
if(ready) statusBitfield1 |=1 << 15;else statusBitfield1 &= ~(1 <<15);
if(running) statusBitfield1 |=1 << 14;else statusBitfield1 &= ~(1 <<14);
if(warning) statusBitfield1 |=1 << 10;else statusBitfield1 &= ~(1 <<10);
if(faulted) statusBitfield1 |=1 << 9;else statusBitfield1 &= ~(1 <<9);
mechanicalPower=dcVoltage*dcCurrent/10000; //In kilowatts. DC voltage is x10
efficiency=(speedActual*torqueActual*0.1045)/(mechanicalPower*100000);
if (dcVoltage>nominalVolts && torqueActual>-10) {kiloWattHours=1;} //If our voltage is higher than fully charged with no regen, zero our kwh meter
if (milliStamp>millis()) {milliStamp=0;} //In case millis rolls over to zero while running
kiloWattHours+=(millis()-milliStamp)*mechanicalPower;//We assume here that power is at current level since last tick and accrue in kilowattmilliseconds.
milliStamp=millis();//reset our kwms timer for next check
Throttle *accelerator = DeviceManager::getInstance()->getAccelerator();
Throttle *brake = DeviceManager::getInstance()->getBrake();
if (accelerator)
throttleRequested = accelerator->getLevel();
if (brake && brake->getLevel() < -10 && brake->getLevel() < accelerator->getLevel()) //if the brake has been pressed it overrides the accelerator.
throttleRequested = brake->getLevel();
if (!donePrecharge && config->prechargeR>0)
{
if (millis()> config->prechargeR) //Check milliseconds since startup against our entered delay in milliseconds
{
donePrecharge=1; //Time's up. Let's don't do ANY of this on future ticks.
if (config->mainContactorRelay!=255) //If we HAVE a main contactor, turn it on.
{
setOutput(config->mainContactorRelay, 1); //Main contactor on
statusBitfield2 |=1 << 17; //set bit to turn on MAIN CONTACTOR annunciator
statusBitfield1 |=1 << config->mainContactorRelay;//setbit to Turn on main contactor output annunciator
//I've commented the below out to leave the precharge relay ON after precharge..see user guide for why.
//setOutput(config->prechargeRelay, 0); //ok. Turn off precharge output
// statusBitfield2 &= ~(1 << 19); //clearbit to turn off PRECHARGE annunciator
//statusBitfield1 &= ~(1<< config->prechargeRelay); //clear bit to turn off PRECHARGE output annunciator
Logger::console("Precharge sequence complete after %i milliseconds", config->prechargeR);
Logger::console("MAIN CONTACTOR ENABLED...DOUT0:%d, DOUT1:%d, DOUT2:%d, DOUT3:%d,DOUT4:%d, DOUT5:%d, DOUT6:%d, DOUT7:%d", getOutput(0), getOutput(1), getOutput(2), getOutput(3),getOutput(4), getOutput(5), getOutput(6), getOutput(7));
}
}
else //If time is not up and maybe this is our first tick, let's set the precharge relay IF we have one
//and clear the main contactor IF we have one.We'll set PRELAY so we only have to do this once.
{
if (config->prechargeRelay==255 || config->mainContactorRelay==255){donePrecharge=1;}
if(!prelay)
{
if (config->prechargeRelay!=255)
{
setOutput(config->prechargeRelay, 1); //ok. Turn on precharge
statusBitfield2 |=1 << 19; //set bit to turn on PRECHARGE RELAY annunciator
statusBitfield1 |=1 << config->prechargeRelay; //set bit to turn ON precharge OUTPUT annunciator
throttleRequested = 0; //Keep throttle at zero during precharge
prelay=true;
}
if (config->mainContactorRelay!=255)
{
setOutput(config->mainContactorRelay, 0); //Main contactor off
statusBitfield2 &= ~(1 << 17); //clear bitTurn off MAIN CONTACTOR annunciator
statusBitfield1 &= ~(1 << config->mainContactorRelay);//clear bitTurn off main contactor output annunciator
prelay=true;
}
}
}
}
if(skipcounter++ > 30) //As how fast we turn on cooling is very low priority, we only check cooling every 24th lap or about once per second
{
if(config->prechargeR==12345)
{
dcVoltage--;
temperatureInverter++;
temperatureMotor++;
if (torqueActual < -500)
{torqueActual=20;}
else {torqueActual=-650;}
}
coolingcheck();
prefsHandler->write(EEMC_KILOWATTHRS, kiloWattHours); //store kilowatt hours to EEPROM
prefsHandler->saveChecksum();
// memCache->Write(63000,kiloWattHours);
}
}
