mower motor power modulation

[greymfm]

test this mower motor power modulation, and if it works well integrate it into the code...

void Robot::motorMowControl() {
//bber60
  if (millis() < nextTimeMotorMowControl) return;
  nextTimeMotorMowControl = millis() + 100;
  if (motorMowForceOff) motorMowEnable = false;
  //Auto adjust the motor speed according to cutting power (The goal is On high grass the motor rotate faster)
  //A runningmedian process is used to check each seconde the power value of mow motor
  //if power is low the speed is reduce to have a longer mowing duration and less noise.
  if (motorMowEnable) {
    motorMowPowerMedian.add(motorMowPower);
    if (motorMowPowerMedian.getCount() > 10) { //check each 1 secondes
      int prevcoeff =  motorMowPwmCoeff;
      motorMowPwmCoeff = int((100 * motorMowPowerMedian.getAverage(4)) / (0.5 * motorMowPowerMax));
      if (motorMowPwmCoeff < prevcoeff) {
        //filter on speed reduce to keep the mow speed high for longuer duration
        motorMowPwmCoeff = int((0.1) * motorMowPwmCoeff + (0.9) * prevcoeff);// use only 10% of the new value
      }
      if ((statusCurr == WIRE_MOWING) || (statusCurr == SPIRALE_MOWING)) motorMowPwmCoeff = 100;
      if (motorMowPwmCoeff > 100) motorMowPwmCoeff = 100;
      if (motorMowEnable) {
        motorMowSpeedPWMSet = motorMowSpeedMinPwm + ((double)(motorMowSpeedMaxPwm - motorMowSpeedMinPwm)) * (((double)motorMowPwmCoeff) / 100.0);
      }
      if (motorMowSpeedPWMSet < motorMowSpeedMinPwm) motorMowSpeedPWMSet = motorMowSpeedMinPwm;
      if (motorMowSpeedPWMSet > motorMowSpeedMaxPwm) motorMowSpeedPWMSet = motorMowSpeedMaxPwm;
      //max speed on wire and spirale
      motorMowPowerMedian.clear();
    }
  }
  else
  {
    motorMowSpeedPWMSet = 0;
  }
  if (stateCurr == STATE_ERROR) {
    setMotorMowPWM(0, false); //stop immediatly on error (tilt etc....)
  }
  else
  {
    setMotorMowPWM(motorMowSpeedPWMSet, true);
  }
}

[szwoelf]

I could give it a try if you like :-)

[fracii]

I could give it a try if you like :-)

Have you tried yet? Where do I add this code? In motor.cpp? Do I need replace something?

[fracii]

I could give it a try if you like :-)

Have you tried yet? Where do I add this code? In motor.cpp? Do I need replace something?

I was added Alexanders code but need help to know How to declare the new code. Check pull request.

[greymfm]

closed as implemented by a pull request already ( https://github.com/Ardumower/Sunray/pull/24 )