GarandPLG
febf1215db
- Comment out all Serial debugging statements and the artificial delay in Engine::update. - Change reverse gear detection from `gearIdx == 5` to `gearIdx == -1`. - Simplify the main loop in Projekt.ino by removing unnecessary braces, eliminating temporary blink variables, and calling `display.updateDirection` directly with the pin reads.
94 lines
2.7 KiB
C++
94 lines
2.7 KiB
C++
#include "Engine.h"
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using namespace EngineConsts;
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Engine::Engine(uint8_t throttlePin,
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uint8_t clutchPin,
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uint8_t brakePin)
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: _throttlePin(throttlePin), _clutchPin(clutchPin), _brakePin(brakePin) {}
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void Engine::begin() {
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}
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float Engine::readNormalized(uint8_t pin) const {
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return analogRead(pin) / 1023.0f;
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}
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void Engine::update(float dt, uint8_t gearIdx) {
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// Serial.println("----------------");
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const float throttle = readNormalized(_throttlePin);
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// Serial.print("Throttle: ");
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// Serial.println(throttle);
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const float clutch = readNormalized(_clutchPin);
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// Serial.print("Clutch: ");
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// Serial.println(clutch);
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const float brake = readNormalized(_brakePin);
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// Serial.print("Brake: ");
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// Serial.println(brake);
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const float targetRPM = RPM_IDLE + throttle * (RPM_MAX - RPM_IDLE);
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// Serial.print("targetRPM: ");
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// Serial.println(targetRPM);
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const float wheelRPM = (_speedMs / (2.0f * PI * WHEEL_RADIUS)) * 60.0f;
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// Serial.print("wheelRPM: ");
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// Serial.println(wheelRPM);
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const float gearRatio = GEAR_RATIO[gearIdx];
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// Serial.print("gearRatio: ");
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// Serial.println(gearRatio);
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const float drivenRPM = wheelRPM * fabs(gearRatio) * FINAL_DRIVE;
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// Serial.print("drivenRPM: ");
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// Serial.println(drivenRPM);
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_engineRPM = clutch * drivenRPM + (1.0f - clutch) * targetRPM;
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// Serial.print("_engineRPM: ");
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// Serial.println(_engineRPM);
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_engineRPM = constrain(_engineRPM, RPM_IDLE, 7500.0f);
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// Serial.print("_engineRPM (constrain): ");
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// Serial.println(_engineRPM);
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const float engineForce = (_engineRPM / RPM_MAX) * (1.0f - clutch) * ENGINE_FORCE_FACTOR;
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// Serial.print("engineForce: ");
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// Serial.println(engineForce);
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const float brakeForce = brake * BRAKE_FORCE_MAX;
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// Serial.print("brakeForce: ");
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// Serial.println(brakeForce);
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const float dragForce = 0.5f * DRAG_COEFF * FRONTAL_AREA * (_speedMs * _speedMs);
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// Serial.print("dragForce: ");
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// Serial.println(dragForce);
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const int direction = (gearIdx == -1) ? -1 : 1;
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// Serial.print("direction: ");
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// Serial.println(direction);
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const float netForce = direction * engineForce - brakeForce - dragForce;
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// Serial.print("netForce: ");
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// Serial.println(netForce);
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const float acceleration = netForce / CAR_MASS;
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// Serial.print("acceleration: ");
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// Serial.println(acceleration);
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_speedMs += acceleration * dt;
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if (_speedMs < 0.0f) _speedMs = 0.0f;
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// Serial.print("_speedMs: ");
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// Serial.println(_speedMs);
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// delay(1000);
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}
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int Engine::getRPM() const {
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return static_cast<int>(_engineRPM + 0.5f);
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}
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int Engine::getSpeedKmh() const {
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return static_cast<int>((_speedMs * 3.6f) + 0.5f);
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}
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