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Add power Modeling functions to all components

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This commit is contained in:
Phillip Kühne
2025-02-15 21:42:41 +01:00
parent 5cb25a412a
commit ff80ebe4db
13 changed files with 672 additions and 334 deletions
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13
src/motion/Motor.cpp
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@ -25,9 +25,7 @@ void Motor::begin(void) {
};
bool Motor::setSpeed(uint16_t duty) {
const float dutyFactor = duty / static_cast<float>(1 << DUTY_RES);
const float current =
PowerParameters::CurrentConsumptions::CURRENT_MOTOR_T_ON * dutyFactor;
const float current = this->modelCurrentConsumption(duty);
if (this->pin == MOTOR_LEFT_PIN) {
if (!Power::waitForCurrentAllowance(
PowerParameters::PowerConsumers::MOTOR_LEFT, current,
@ -69,3 +67,12 @@ bool Motor::setSpeed(uint16_t duty) {
};
uint16_t Motor::getSpeed(void) { return this->duty; };
float modelCurrentConsumption(uint16_t duty) {
const float dutyFactor = duty / static_cast<float>(1 << DUTY_RES);
return PowerParameters::CurrentConsumptions::CURRENT_MOTOR_T_ON * dutyFactor;
}
float modelChargeConsumptionOn(uint16_t duty, uint16_t durationMs) {
return modelCurrentConsumption(duty) * durationMs * 10e6;
}