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Accurate motor current draw #143

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Accurate motor current draw #143

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741aefd
Update AmRobotDriver.cpp
ShadedSelf Aug 1, 2023
dc97fdc
Update values for all brushless boards
ShadedSelf Aug 16, 2023
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18 changes: 9 additions & 9 deletions sunray/src/driver/AmRobotDriver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -190,7 +190,7 @@ AmMotorDriver::AmMotorDriver(){
DRV8308.minPwmSpeed = 2;
DRV8308.maxPwmSpeed = 255;
DRV8308.pwmFreq = PWM_FREQ_29300;
DRV8308.adcVoltToAmpOfs = -1.65; // brushless-adapter: 0A=1.65V, resolution 132mV/A
DRV8308.adcVoltToAmpOfs = -1.675; // brushless-adapter: 0A=1.65V, resolution 132mV/A
DRV8308.adcVoltToAmpScale = 7.57;
DRV8308.adcVoltToAmpPow = 1.0;

Expand All @@ -210,7 +210,7 @@ AmMotorDriver::AmMotorDriver(){
A4931.minPwmSpeed = 0;
A4931.maxPwmSpeed = 255;
A4931.pwmFreq = PWM_FREQ_29300;
A4931.adcVoltToAmpOfs = -1.65; // brushless-adapter: 0A=1.65V, resolution 132mV/A
A4931.adcVoltToAmpOfs = -1.675; // brushless-adapter: 0A=1.65V, resolution 132mV/A
A4931.adcVoltToAmpScale = 7.57;
A4931.adcVoltToAmpPow = 1.0;

Expand All @@ -229,7 +229,7 @@ AmMotorDriver::AmMotorDriver(){
BLDC8015A.minPwmSpeed = 0; // minimum PWM speed your driver can operate
BLDC8015A.maxPwmSpeed = 255;
BLDC8015A.pwmFreq = PWM_FREQ_29300; // choose between PWM_FREQ_3900 and PWM_FREQ_29300 here
BLDC8015A.adcVoltToAmpOfs = -1.65; // ADC voltage to amps (offset) // brushless-adapter: 0A=1.65V, resolution 132mV/A
BLDC8015A.adcVoltToAmpOfs = -1.675; // ADC voltage to amps (offset) // brushless-adapter: 0A=1.65V, resolution 132mV/A
BLDC8015A.adcVoltToAmpScale = 7.57; // ADC voltage to amps (scale)
BLDC8015A.adcVoltToAmpPow = 1.0; // ADC voltage to amps (power of number)

Expand All @@ -248,7 +248,7 @@ AmMotorDriver::AmMotorDriver(){
JYQD.minPwmSpeed = 0; // minimum PWM speed your driver can operate
JYQD.maxPwmSpeed = 255;
JYQD.pwmFreq = PWM_FREQ_3900; // choose between PWM_FREQ_3900 and PWM_FREQ_29300 here
JYQD.adcVoltToAmpOfs = -1.65; // ADC voltage to amps (offset) // brushless-adapter: 0A=1.65V, resolution 132mV/A
JYQD.adcVoltToAmpOfs = -1.675; // ADC voltage to amps (offset) // brushless-adapter: 0A=1.65V, resolution 132mV/A
JYQD.adcVoltToAmpScale = 7.57; // ADC voltage to amps (scale)
JYQD.adcVoltToAmpPow = 1.0; // ADC voltage to amps (power of number)

Expand All @@ -267,7 +267,7 @@ AmMotorDriver::AmMotorDriver(){
OWL.minPwmSpeed = 0; // minimum PWM speed your driver can operate
OWL.maxPwmSpeed = 255;
OWL.pwmFreq = PWM_FREQ_29300; // choose between PWM_FREQ_3900 and PWM_FREQ_29300 here
OWL.adcVoltToAmpOfs = -1.65; // ADC voltage to amps (offset) // brushless-adapter: 0A=1.65V, resolution 132mV/A
OWL.adcVoltToAmpOfs = -1.675; // ADC voltage to amps (offset) // brushless-adapter: 0A=1.65V, resolution 132mV/A
OWL.adcVoltToAmpScale = 7.57; // ADC voltage to amps (scale)
OWL.adcVoltToAmpPow = 1.0; // ADC voltage to amps (power of number)

Expand All @@ -286,7 +286,7 @@ AmMotorDriver::AmMotorDriver(){
CUSTOM.minPwmSpeed = 0; // minimum PWM speed your driver can operate
CUSTOM.maxPwmSpeed = 255;
CUSTOM.pwmFreq = PWM_FREQ_29300; // choose between PWM_FREQ_3900 and PWM_FREQ_29300 here
CUSTOM.adcVoltToAmpOfs = -1.65; // ADC voltage to amps (offset) // brushless-adapter: 0A=1.65V, resolution 132mV/A
CUSTOM.adcVoltToAmpOfs = -1.675; // ADC voltage to amps (offset) // brushless-adapter: 0A=1.65V, resolution 132mV/A
CUSTOM.adcVoltToAmpScale = 7.57; // ADC voltage to amps (scale)
CUSTOM.adcVoltToAmpPow = 1.0; // ADC voltage to amps (power of number)
}
Expand Down Expand Up @@ -528,19 +528,19 @@ void AmMotorDriver::getMotorCurrent(float &leftCurrent, float &rightCurrent, flo
// current (amps)= ((ADCvoltage + ofs)^pow) * scale
float ValuePosCheck = 0;
ValuePosCheck = (((float)ADC2voltage(analogRead(pinMotorLeftSense))) + gearsDriverChip.adcVoltToAmpOfs);
if (ValuePosCheck < 0) ValuePosCheck = 0; // avoid negativ numbers
//if (ValuePosCheck < 0) ValuePosCheck = 0; // avoid negativ numbers
leftCurrent = pow(
ValuePosCheck, gearsDriverChip.adcVoltToAmpPow
) * gearsDriverChip.adcVoltToAmpScale;

ValuePosCheck = (((float)ADC2voltage(analogRead(pinMotorRightSense))) + gearsDriverChip.adcVoltToAmpOfs);
if (ValuePosCheck < 0) ValuePosCheck = 0; // avoid negativ numbers
//if (ValuePosCheck < 0) ValuePosCheck = 0; // avoid negativ numbers
rightCurrent = pow(
ValuePosCheck, gearsDriverChip.adcVoltToAmpPow
) * gearsDriverChip.adcVoltToAmpScale;

ValuePosCheck = (((float)ADC2voltage(analogRead(pinMotorMowSense))) + gearsDriverChip.adcVoltToAmpOfs);
if (ValuePosCheck < 0) ValuePosCheck = 0; // avoid negativ numbers
//if (ValuePosCheck < 0) ValuePosCheck = 0; // avoid negativ numbers
mowCurrent = pow(
ValuePosCheck, mowDriverChip.adcVoltToAmpPow
) * mowDriverChip.adcVoltToAmpScale;
Expand Down