MEGR 3092 - Electric Drive Trains

// This #include statement was automatically added by the Particle IDE.
#include <Adafruit_IO_Particle.h>
#include <Adafruit_DHT.h>
#include "lib1.h"
#include <Adafruit_IO_Particle.h>
#include <Adafruit_DHT.h>

// This example assumes the sensor to be plugged into CONN2
#define DHTPIN 2     // what pin we're connected to

// Here we define the type of sensor used
#define DHTTYPE DHT11        // DHT 11 

#define IO_USERNAME  "gretapowell"
#define IO_KEY       "aio_NTEO38U25j0SeHgNG7xLSThSaQiH"

SYSTEM_THREAD(ENABLED);


// Define pins for analog input
int Current_Sensor = A1;
int Voltage_Sensor = A3;
int pedalValue = 0;

// Define the maximum rate of increase in throttle per loop
int THROTTLE_RATE =1; 
int prevThrottle = 0;
int throttleOutput = 0;
int throttleInput=0;

// Define variables for raw analog values
int analog_value_0 = 0;
int analog_value_1 = 0;

// Voltage Divider
int R1 = 3800;
int R2 = 1000;
int acceleration = 0;
int previous_speed = 0;
int acc_limit = 5;
int speed;

// Define variables for filtered analog values
float filtered_value_0 = 0.0;
float filtered_value_1 = 0.0;

// Define variables for filtering algorithm
float alpha = 0.0183;
float prev_filtered_value_0 = 0.0;
float prev_filtered_value_1 = 0.0;

// Time variables
unsigned long previous_time = 0;
unsigned long current_time = 0;
unsigned long filter_time = 10000; // in milliseconds (10 seconds)


// Pedal pin
const int PEDAL_PIN = A0;

// PINS
const int Dir_Pin = D2; 
const int PWM_R = D3; 
const int PWM_L = D4;
const int ENA = D5;
const int ENB = D6;
int outputTimer = 0;
int OUTPUT_INTERVAL = 10000;



void setup()
{
  // Initialize serial communication
  Serial.begin(9600);
 
 // WEBHOOK SETUP
         
  // Subscribe to the integration response event
  Particle.subscribe("hook-response/current", myHandler, MY_DEVICES);
  Particle.subscribe("hook-response/voltage", myHandler, MY_DEVICES);
  Particle.subscribe("hook-response/throttle", myHandler, MY_DEVICES);

  // Set motor pins as outputs
  //initHBridge();
  initHB();

  // Set pedal pin as input
  pinMode(PEDAL_PIN, INPUT);
  
  
  // Set current sensor input
  pinMode(Current_Sensor, INPUT);
  pinMode(Voltage_Sensor, INPUT);

}

void myHandler(const char *event, const char *data) {
  // Handle the integration response
}


void loop()
{
 
    // Motor direction     
      int direction = digitalRead(Dir_Pin); 
      
    // Motor speed  
      if (direction = HIGH){
          digitalWrite(ENA, HIGH);
          digitalWrite(ENB, LOW);
          analogWrite(PWM_R, throttleOutput);
      }
      else{
          digitalWrite(ENA, LOW);
          digitalWrite(ENB, HIGH);
          analogWrite(PWM_L, throttleOutput);
      }
     
  
  // Voltage and Current Readings
  
  // Read analog values at 50 Hz
  current_time = millis();
  
  float _voltage = 5.0;
  
  if (current_time - previous_time >= 20)
  { // 1000 ms / 50 Hz = 20 ms
    analog_value_0 = analogRead(Current_Sensor);
    analog_value_1 = analogRead(Voltage_Sensor);
    previous_time = current_time;

    // Convert analog values to voltage/current
    float voltage_0 = (analog_value_0 * _voltage / 4095.0) * ((R1 + R2)/R2); // 5V reference, 10:1 divider
    float current_1 = (analog_value_1 - 2047) * _voltage / 4095.0 / 0.04; // ACS758LCB - 050B - PFF - T current sensor

    // Filter analog values
    filtered_value_0 = alpha * voltage_0 + (1 - alpha) * prev_filtered_value_0;
    filtered_value_1 = alpha * current_1 + (1 - alpha) * prev_filtered_value_1;
    
    prev_filtered_value_0 = filtered_value_0;
    prev_filtered_value_1 = filtered_value_1;

    
      // Read pedal value
      pedalValue = analogRead(PEDAL_PIN);
      
      
      // Map pedal value to motor speed
      speed = map(pedalValue, 1050, 3100, 0, 255);
      speed = constrain(speed,0,255);
      
      throttleInput = speed;
      // If accelerating, slew traction control to speed up
      if (throttleInput > prevThrottle)
      {
        throttleOutput = min(throttleInput, prevThrottle + THROTTLE_RATE);
      }
      // If de-accelerating, slew traction control to slow down
      else {
        throttleOutput = max(throttleInput, prevThrottle - THROTTLE_RATE); 
      }
      prevThrottle = throttleOutput; 

    
  }
 
 
 // Check if it's time to output the filtered values

if (millis() - outputTimer >= OUTPUT_INTERVAL) {

// Output the filtered values

//++++++++++++++++++++++++++ WEBHOOK INTEGRATION START +++++++++++++++++++++++++++
   
// Get some data
  float current = filtered_value_0;
  float voltage = filtered_value_1;
  float throttle = speed;
  // Trigger the integration
  Particle.publish("current", String(current), PRIVATE);
  Particle.publish("voltage", String(voltage), PRIVATE);
  Particle.publish("throttle", String(throttle), PRIVATE);

//+++++++++++++++++++++++++ WEBHOOK INTEGRATION END ++++++++++++++++++++++++++++

// Reset the output timer

outputTimer = millis();
}

}

// HBridge setup
void initHB(){
    pinMode(ENA, OUTPUT);
    pinMode(ENB, OUTPUT);
    pinMode(PWM_R, OUTPUT);
    pinMode(PWM_L, OUTPUT);
    pinMode(Dir_Pin, INPUT_PULLDOWN);
    
    analogWrite(PWM_R, 0);
    analogWrite(PWM_L, 0);
}