update arduino/Betas/RGB_V1.5/main/main.ino.
慕炎
Gitee
parent
5d71101d50
commit
7827234a25
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@ -1,5 +1,5 @@
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/**
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自平衡莱洛三角形 RGB版 HW:Ver 1.5 FW:Ver 1.1.1
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自平衡莱洛三角形 RGB版 HW:Ver 1.5 FW:Ver 1.2.1
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立创EDA https://oshwhub.com/muyan2020/zi-ping-heng-di-lai-luo-san-jiao_10-10-ban-ben_copy
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RGB版本程序 https://gitee.com/muyan3000/RGBFOC 基于45°(https://gitee.com/coll45/foc/)程序修改
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arduino开发环境-灯哥开源FOChttps://gitee.com/ream_d/Deng-s-foc-controller，并安装Kalman。
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@ -11,7 +11,8 @@
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比如让平衡角度为90度，则输入：TA90，并且会存入eeprom的位置0中 注：wifi发送命令不能过快，因为每次都会保存进eeprom
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在使用自己的电机时，请一定记得修改默认极对数，即 BLDCMotor(5) 中的值，设置为自己的极对数数字，磁铁数量/2
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程序默认设置的供电电压为 12V,用其他电压供电请记得修改 voltage_power_supply , voltage_limit 变量中的值
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默认PID针对的电机是 GB2204 ，使用自己的电机需要修改PID参数，才能实现更好效果
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V1默认PID针对的电机是 GB2204 ，使用自己的电机需要修改PID参数，才能实现更好效果
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V2电机是2715
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*/
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#include <SimpleFOC.h>
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#include "Command.h"
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@ -59,7 +60,7 @@ int touchDetected[4] = {}; //通过touchdetected持续计数判断是否按键
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bool touch_touched[4] = {}; //单击判断
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int touch_touched_times[4] = {}; //单击次数，单击切换模式，双击
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int touch_touching_time[4] = {}; //持续触摸秒数，用于判断长按事件，长按关闭，长按开启，开启状态长按调光，
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bool touch_STATE[4] = {1, 1, 1, 1}; // 定义按键触发对象状态变量初始值为true默认开启
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bool touch_STATE[4] = {1, 1, 1, 1}; // 定义按键触发对象状态变量初始值为true默认开启 T2 T3 T4
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const char *username = "admin"; //web用户名
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const char *userpassword = "reuleaux123"; //web用户密码
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@ -119,17 +120,17 @@ float LQR_K4_2 = 1.5; //
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float LQR_K4_3 = 1.42; //
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//电机参数
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BLDCMotor motor = BLDCMotor(5);
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BLDCMotor motor = BLDCMotor(5); //电机极数
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BLDCDriver3PWM driver = BLDCDriver3PWM(32, 33, 25, 22);
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float target_velocity = 0; //目标速度
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float target_angle = 90; //平衡角度 例如TA89.3 设置平衡角度89.3
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float target_angle = 89.3; //平衡角度 例如TA89.3 设置平衡角度89.3
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float target_voltage = 0; //目标电压
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float swing_up_voltage = 1.8; //摇摆电压 左右摇摆的电压，越大越快到平衡态，但是过大会翻过头
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float swing_up_angle = 20; //摇摆角度 离平衡角度还有几度时候，切换到自平衡控制
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float v_i_1 = 20; //非稳态速度环I
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float v_p_1 = 0.7; //非稳态速度环P
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float v_p_1 = 0.5; //非稳态速度环P
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float v_i_2 = 10; //稳态速度环I
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float v_p_2 = 0.3; //稳态速度环P
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float v_p_2 = 0.2; //稳态速度环P
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//命令设置
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Command comm;
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bool Motor_enable_flag = 0;
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@ -227,6 +228,61 @@ void Debug_Log_func(String debuglog, bool debug_control = debug_log_control) {
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}
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}
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bool AutoWifiConfig()
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{
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//wifi初始化
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WiFi.mode(WIFI_AP);
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while (!WiFi.softAP(ssid, password)) {}; //启动AP
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Serial.println("AP启动成功");
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Serial.println("Ready");
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Serial.print("IP address: ");
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Serial.println(WiFi.softAPIP());
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byte mac[6];
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WiFi.macAddress(mac);
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WiFi.setHostname(ServerName);
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Serial.printf("macAddress 0x%02X:0x%02X:0x%02X:0x%02X:0x%02X:0x%02X\r\n", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
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while (!udp.listen(localUdpPort)) //等待udp监听设置成功
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{
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}
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udp.onPacket(onPacketCallBack); //注册收到数据包事件
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ArduinoOTA.setHostname(ServerName);
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//以下是启动OTA，可以通过WiFi刷新固件
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ArduinoOTA.onStart([]() {
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String type;
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if (ArduinoOTA.getCommand() == U_FLASH) {
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type = "sketch";
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} else { // U_SPIFFS
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type = "filesystem";
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}
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// NOTE: if updating SPIFFS this would be the place to unmount SPIFFS using SPIFFS.end()
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Serial.println("Start updating " + type);
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});
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ArduinoOTA.onEnd([]() {
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Serial.println("\nEnd");
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});
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ArduinoOTA.onProgress([](unsigned int progress, unsigned int total) {
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Serial.printf("Progress: %u%%\r", (progress / (total / 100)));
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});
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ArduinoOTA.onError([](ota_error_t error) {
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Serial.printf("Error[%u]: ", error);
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if (error == OTA_AUTH_ERROR) {
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Serial.println("Auth Failed");
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} else if (error == OTA_BEGIN_ERROR) {
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Serial.println("Begin Failed");
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} else if (error == OTA_CONNECT_ERROR) {
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Serial.println("Connect Failed");
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} else if (error == OTA_RECEIVE_ERROR) {
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Serial.println("Receive Failed");
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} else if (error == OTA_END_ERROR) {
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Serial.println("End Failed");
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}
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});
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ArduinoOTA.begin();
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}
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void onPacketCallBack(AsyncUDPPacket packet)
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{
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char* da;
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@ -274,7 +330,7 @@ void setup() {
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Serial.println("Failed to initialise EEPROM");
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Serial.println("Restarting...");
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delay(1000);
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ESP.restart();
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esp_restart();
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}
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// eeprom 读取
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int k, j;
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@ -351,62 +407,17 @@ void setup() {
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FastLED.show();
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delay(15);
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}
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delay(500);
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delay(300);
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}
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sprintf(mac_tmp, "%02X\r\n", (uint32_t)(ESP.getEfuseMac() >> (24) ));
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sprintf(mac_tmp, "ESP32-%c%c%c%c%c%c", mac_tmp[4], mac_tmp[5], mac_tmp[2], mac_tmp[3], mac_tmp[0], mac_tmp[1] );
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//wifi初始化
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WiFi.mode(WIFI_AP);
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while (!WiFi.softAP(ssid, password)) {}; //启动AP
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Serial.println("AP启动成功");
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Serial.println("Ready");
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Serial.print("IP address: ");
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Serial.println(WiFi.softAPIP());
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byte mac[6];
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WiFi.macAddress(mac);
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WiFi.setHostname(ServerName);
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Serial.printf("macAddress 0x%02X:0x%02X:0x%02X:0x%02X:0x%02X:0x%02X\r\n", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
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while (!udp.listen(localUdpPort)) //等待udp监听设置成功
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{
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}
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udp.onPacket(onPacketCallBack); //注册收到数据包事件
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ArduinoOTA.setHostname(ServerName);
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//以下是启动OTA，可以通过WiFi刷新固件
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ArduinoOTA.onStart([]() {
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String type;
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if (ArduinoOTA.getCommand() == U_FLASH) {
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type = "sketch";
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} else { // U_SPIFFS
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type = "filesystem";
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if ( touch_STATE[3] ) {
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AutoWifiConfig();
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StartWebServer();
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}
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// NOTE: if updating SPIFFS this would be the place to unmount SPIFFS using SPIFFS.end()
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Serial.println("Start updating " + type);
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});
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ArduinoOTA.onEnd([]() {
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Serial.println("\nEnd");
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});
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ArduinoOTA.onProgress([](unsigned int progress, unsigned int total) {
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Serial.printf("Progress: %u%%\r", (progress / (total / 100)));
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});
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ArduinoOTA.onError([](ota_error_t error) {
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Serial.printf("Error[%u]: ", error);
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if (error == OTA_AUTH_ERROR) {
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Serial.println("Auth Failed");
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} else if (error == OTA_BEGIN_ERROR) {
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Serial.println("Begin Failed");
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} else if (error == OTA_CONNECT_ERROR) {
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Serial.println("Connect Failed");
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} else if (error == OTA_RECEIVE_ERROR) {
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Serial.println("Receive Failed");
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} else if (error == OTA_END_ERROR) {
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Serial.println("End Failed");
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}
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});
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ArduinoOTA.begin();
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// kalman mpu6050 init
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Wire.begin(19, 18, 400000); // Set I2C frequency to 400kHz
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@ -460,16 +471,16 @@ void setup() {
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motor.PID_velocity.I = v_i_1;
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//最大电机限制电压
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motor.voltage_limit = 6;
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motor.voltage_limit = 12; // [V]s
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//速度低通滤波时间常数
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motor.LPF_velocity.Tf = 0.01f;
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motor.LPF_velocity.Tf = 0.02;
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// angle P controller
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motor.P_angle.P = 20;
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//设置最大速度限制
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motor.velocity_limit = 40;
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motor.velocity_limit = 180; // [rad/s]
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motor.useMonitoring(Serial);
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@ -493,7 +504,6 @@ void setup() {
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Serial.println("SPIFFS Failed to Start.");
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}
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StartWebServer();
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Serial.print("System is ready \t Free Heap: ");
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Serial.println(ESP.getFreeHeap());
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@ -508,7 +518,11 @@ long loop_count = 0;
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double last_pitch;
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void loop() {
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Debug_Log_func("loop");
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if ( touch_STATE[3] ) {
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ESP32Server.handleClient();
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//delay(1);//allow the cpu to switch to other tasks
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ArduinoOTA.handle();
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}
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motor.loopFOC();
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while (i2cRead(0x3B, i2cData, 14));
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@ -547,8 +561,8 @@ void loop() {
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if (abs(pendulum_angle) < swing_up_angle) // if angle small enough stabilize 0.5~30°,1.5~90°
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{
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target_velocity = controllerLQR(pendulum_angle, gyroZrate, motor.shaftVelocity());
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if (abs(target_velocity) > 140)
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target_velocity = _sign(target_velocity) * 140;
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if (abs(target_velocity) > motor.velocity_limit)
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target_velocity = _sign(target_velocity) * motor.velocity_limit;
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motor.controller = MotionControlType::velocity;
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motor.move(target_velocity);
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@ -629,6 +643,13 @@ void loop() {
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touch_touched[2] = false;
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}
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if (touch_touched[3]) {
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//Serial.print("\nLight2 touched ");
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//Serial.println(touch_touched_times[2]);
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touch_touched[3] = false;
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}
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//灯光及按键处理
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if ( touch_STATE[1] ) {
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pride();
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@ -696,7 +717,7 @@ float controllerLQR(float p_angle, float p_vel, float m_vel)
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// - k = [13.3, 21, 0.3]
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// - x = [pendulum angle, pendulum velocity, motor velocity]'
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if (abs(p_angle) > 3) //摆角大于2.5则进入非稳态，记录非稳态时间
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if (abs(p_angle) > 2.5) //摆角大于2.5则进入非稳态，记录非稳态时间
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{
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last_unstable_time = millis();
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if (stable) //如果是稳态进入非稳态则调整为目标角度
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@ -706,7 +727,7 @@ float controllerLQR(float p_angle, float p_vel, float m_vel)
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stable = 0;
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}
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}
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if ((millis() - last_unstable_time) > 500 && !stable) //非稳态进入稳态超过500ms检测，更新目标角为目标角+摆角，假设进入稳态
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if ((millis() - last_unstable_time) > 1000 && !stable) //非稳态进入稳态超过500ms检测，更新目标角为目标角+摆角，假设进入稳态
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{
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//target_angle -= _sign(target_velocity) * 0.4;
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target_angle = target_angle+p_angle;
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@ -754,8 +775,6 @@ unsigned long LastMillis = 0;
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void TenthSecondsSinceStartTask() //100ms
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{
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unsigned long CurrentMillis = millis();
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ESP32Server.handleClient();
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delay(1);//allow the cpu to switch to other tasks
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if (abs(int(CurrentMillis - LastMillis)) > 100)
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{
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LastMillis = CurrentMillis;
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@ -793,8 +812,8 @@ void OnSecond()
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//Serial.println(DateTimeStr);
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#if defined(BAT_VOLTAGE_SENSE_PIN) //电池电压检测
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//driver.voltage_power_supply = return_voltage_value(BAT_VOLTAGE_SENSE_PIN);
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bat_voltage = return_voltage_value(BAT_VOLTAGE_SENSE_PIN);
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//driver.voltage_power_supply = bat_voltage;
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//Serial.println(driver.voltage_power_supply);
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if (bat_voltage < min_voltage && !battery_low)
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{
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@ -821,27 +840,41 @@ void OnSecond()
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//battery_low = 0;
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} else { //电池电压低闪灯
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if (millis() % 500 < 250)
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digitalWrite(ACTIVE_PIN, 1);
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else
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digitalWrite(ACTIVE_PIN, 0);
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else
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digitalWrite(ACTIVE_PIN, 1);
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}
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}
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}
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#endif
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for (byte i = 0; i < 3; i++) {
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for (byte i = 0; i < 4; i++) {
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if (touchDetected[i] > 0) { //检测到触摸中，一秒计数一次，未触摸则清零
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touch_touching_time[i]++;
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//长按事件处理
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if (touch_touching_time[1] % 2 == 0) { //按住大于2秒关灯或者开灯
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if (touch_touching_time[i] % 2 == 0) { //按住大于2秒
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switch (i) {
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case 0:
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break;
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case 1:
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touch_STATE[i] = !touch_STATE[i]; //灯光状态反处理
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Serial.println("LIGHTS_ON/OFF");
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break;
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case 2:
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case 3:
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digitalWrite(ACTIVE_PIN, 1);
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delay(500);
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if(touch_STATE[i]==1){
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ESP32Server.close();//关闭网络服务
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WiFi.disconnect();
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WiFi.mode(WIFI_OFF);
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Serial.println("WIFI_OFF");
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}else{
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AutoWifiConfig();
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StartWebServer();
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Serial.println("WIFI_ON");
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}
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touch_STATE[i] = !touch_STATE[i]; //状态反处理
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break;
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}
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@ -864,6 +897,7 @@ void OnTenthSecond() // 100ms 十分之一秒
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//Serial.println(rgb_brightness);
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FastLED.setBrightness(rgb_brightness);
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}
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}
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if (TenthSecondsSinceStart % 10 == 0) //10次为1秒
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@ -902,8 +936,6 @@ String ProcessUpdate() //页面更新
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ReturnString += ",";
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ReturnString += test_flag;
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ReturnString += ",";
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ReturnString += bat_voltage;
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ReturnString += ",";
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ReturnString += EEPROM.readFloat(0);
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ReturnString += ",";
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ReturnString += swing_up_voltage;
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@ -917,6 +949,8 @@ String ProcessUpdate() //页面更新
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ReturnString += v_i_2;
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ReturnString += ",";
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ReturnString += v_p_2;
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ReturnString += ",";
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ReturnString += bat_voltage;
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if (log_control) {
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ReturnString += ",";
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@ -936,7 +970,7 @@ String ProcessUpdate() //页面更新
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ReturnString += ",";
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ReturnString += gyroZangle;
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} else {
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ReturnString += ",,,,,,,,";
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ReturnString += "0,0,0,0,0,0,0,0,0";
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}
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ReturnString += ",";
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@ -1237,6 +1271,7 @@ double return_voltage_value(int pin_no)
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double tmp;
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double ADCVoltage;
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double inputVoltage;
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analogSetPinAttenuation(pin_no, ADC_6db);
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for (int i = 0; i < 20; i++)
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{
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@ -1248,6 +1283,17 @@ double return_voltage_value(int pin_no)
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inputVoltage = tmp / 20;
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if(inputVoltage!=0)
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inputVoltage = inputVoltage + 0.001;
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/*
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for (int i = 0; i < 20; i++)
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{
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tmp = tmp + analogRead(pin_no);
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}
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tmp = tmp / 20;
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ADCVoltage = ((tmp * 3.3) / 4095.0) + 0.165;
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inputVoltage = ADCVoltage / (R2_VOLTAGE / (R1_VOLTAGE + R2_VOLTAGE)); // formula for calculating voltage in i.e. GND
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*/
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return inputVoltage;
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}
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