modify trip measurement

src/hoverboard-esc-serial-comm.cpp

@@ -37,14 +37,13 @@ bool ESCSerialComm::update(unsigned long loopmillis) //returns true if something
   #define TRIP_UPDATE_INTERVAL 100  
   if ( loopmillis > last_update_trip+TRIP_UPDATE_INTERVAL) {
     unsigned long trip_update_interval_real=loopmillis-last_update_trip;
-    last_update_trip=loopmillis; 
+    last_update_trip=loopmillis;
 
     //double _meanRPM=(-Feedback.speedL_meas+Feedback.speedR_meas)/2.0;
     double _meanRPM=(getFeedback_speedL_meas()+getFeedback_speedR_meas())/2.0;
     meanSpeedms=_meanRPM*wheelcircumference/60.0;   // Units: 1/min * m / 60s
-    trip+=abs(meanSpeedms)* ((trip_update_interval_real)/1000.0);   
+    trip+=abs(meanSpeedms)* ((trip_update_interval_real)/1000.0);
     
-
     //mah consumed
     currentConsumed += (Motorparams.filtered_curL+Motorparams.filtered_curR)* (trip_update_interval_real/1000.0)/3600.0; //amp hours
   }
@@ -309,4 +308,11 @@ unsigned long ESCSerialComm::getFeedbackInterval() {
 
 bool ESCSerialComm::getControllerConnected() {
   return controller_connected;
+}
+
+float ESCSerialComm::getWheelspeed_L() {
+  return getFeedback_speedL_meas()*wheelcircumference/60.0;   // Units: 1/min * m / 60s
+}
+float ESCSerialComm::getWheelspeed_R() {
+  return getFeedback_speedR_meas()*wheelcircumference/60.0;   // Units: 1/min * m / 60s
 }

src/hoverboard-esc-serial-comm.h

@@ -109,6 +109,11 @@ class ESCSerialComm
 
     void resetStatistics();
 
+    float getWheelspeed_L();
+    float getWheelspeed_R();
+
+    
+
   private:
     long _millis_lastinput; //declare private variable
 
@@ -161,6 +166,8 @@ class ESCSerialComm
 
     
     float filterMedian(int16_t* values);
+
+
 };
 #endif