fixed typo & calc. battery level (normalized)

kianwasabi · Nov 17, 2023 · a6ab50e · a6ab50e
1 parent 094dd22
commit a6ab50e
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Showing 2 changed files with 18 additions and 12 deletions.
diff --git a/car_info/src/CarInfoClient.cpp b/car_info/src/CarInfoClient.cpp
@@ -30,10 +30,10 @@ int main(){
         [&](const v0::commonapi::CommonTypes::batteryStruct& val) {
             std::cout << " ---------------------------"             << std::endl 
                       << "Received change message for battery"      << std::endl 
-                      << "\tlevel     : " << val.getLevel()         << std::endl 
-                      << "\tvoltage   : " << val.getVoltage()       << std::endl 
-                      << "\tcurrent   : " << val.getCurrent()       << std::endl 
-                      << "\tconsuption: " << val.getConsumption()   << std::endl 
+                      << "\tlevel      : " << val.getLevel()         << std::endl 
+                      << "\tvoltage    : " << val.getVoltage()       << std::endl 
+                      << "\tcurrent    : " << val.getCurrent()       << std::endl 
+                      << "\tconsumption: " << val.getConsumption()   << std::endl 
                       << " ---------------------------" << std::endl;
         }, 
         [&](const CommonAPI::CallStatus &status) {

diff --git a/car_info/src/PiRacer.cpp b/car_info/src/PiRacer.cpp
@@ -58,16 +58,22 @@ bool PiRacer::deleteInstance()
 }
 
 void PiRacer::readBatteryInfo(){
-
-	py::object get_battery_voltage 		= pInstance.attr("get_battery_voltage");
-	_voltage = py::extract<float>(get_battery_voltage());
-	py::object get_battery_consumption 	= pInstance.attr("get_power_consumption");
-	_consumption = py::extract<float>(get_battery_consumption());
-	py::object get_battery_current 		= pInstance.attr("get_battery_current");
-	_current = py::extract<float>(get_battery_current());
+	// read absolut voltage from piracer
+	py::object get_battery_voltage = pInstance.attr("get_battery_voltage");
+	_voltage = std::abs(py::extract<float>(get_battery_voltage()));
+	// read absolut current from piracer
+	py::object get_battery_consumption = pInstance.attr("get_power_consumption");
+	_consumption = std::abs(py::extract<float>(get_battery_consumption()));
+	// read absolut current from piracer
+	py::object get_battery_current = pInstance.attr("get_battery_current");
+	_current = std::abs(py::extract<float>(get_battery_current()));
+	// calculate battery level
+	// This is a 3rd degree polynomial fit of the data from the battery discharge curve (see car_info.md for more details)
+	// limit to 0.01 - 100.00 & convert to 0.00 - 1.00
 	double x = _voltage / _numcells;
 	double y = -691.919 * pow(x,3) + 7991.667 * pow(x,2) - 30541.295 * x + 38661.5;
-	_level = std::min(std::max(std::round(y*1000) / 1000, 0.0), 1.0);     // nomalized value between 0 and 1
+	y = std::min(std::max(y, 0.01), 100.00); 
+	_level = y / 100.00; 
 }
 
 const float PiRacer::getBatteryLevel()