From 8414769397075e509a067c39dbd5b6be29245b48 Mon Sep 17 00:00:00 2001
From: 0xFEEDC0DE64 <daniel@brunner.ninja>
Date: Wed, 13 Oct 2021 13:46:19 +0200
Subject: [PATCH] dont return 0 in calibrated voltage

---
 main/controller.h | 28 +++++++++-------------------
 main/globals.h    |  6 ++++--
 2 files changed, 13 insertions(+), 21 deletions(-)

diff --git a/main/controller.h b/main/controller.h
index dbd2c59..5c6979a 100644
--- a/main/controller.h
+++ b/main/controller.h
@@ -29,11 +29,13 @@ struct Controller {
 #ifdef FEATURE_SERIAL
         HardwareSerial &serial,
 #endif
-        bool &enableLeft, bool &enableRight, bool &invertLeft, bool &invertRight) :
+        bool &enableLeft, bool &enableRight, bool &invertLeft, bool &invertRight,
+        int16_t &voltageCalib30V, int16_t &voltageCalib50V) :
 #ifdef FEATURE_SERIAL
         serial{serial},
 #endif
-        enableLeft{enableLeft}, enableRight{enableRight}, invertLeft{invertLeft}, invertRight{invertRight}
+        enableLeft{enableLeft}, enableRight{enableRight}, invertLeft{invertLeft}, invertRight{invertRight},
+        voltageCalib30V{voltageCalib30V}, voltageCalib50V{voltageCalib50V}
     {
     }
 //    Controller(const Controller &) = delete;
@@ -43,6 +45,7 @@ struct Controller {
     std::reference_wrapper<HardwareSerial> serial;
 #endif
     bool &enableLeft, &enableRight, &invertLeft, &invertRight;
+    int16_t &voltageCalib30V, &voltageCalib50V;
 
     bobbycar::protocol::serial::Command command{};
 
@@ -59,23 +62,10 @@ struct Controller {
 
     float getCalibratedVoltage() const
     {
-        return 0.f;
+        float voltage = feedback.batVoltage;
+        //if (settings.battery.applyCalibration)
+            voltage = ((voltage - float(voltageCalib30V)) * (20.f / (float(voltageCalib50V) - float(voltageCalib30V))) + 30.f);
+        return voltage;
     }
-
-//    float fixFrontBatVoltage(int16_t value)
-//    {
-//        float frontVoltage = value;
-//        if (settings.battery.applyCalibration)
-//            frontVoltage = ((frontVoltage - float(settings.battery.front30VoltCalibration)) * (20.f / (float(settings.battery.front50VoltCalibration) - float(settings.battery.front30VoltCalibration))) + 30.f);
-//        return frontVoltage;
-//    }
-
-//    float fixBackBatVoltage(int16_t value)
-//    {
-//        float backVoltage = value;
-//        if (settings.battery.applyCalibration)
-//            backVoltage = ((backVoltage - float(settings.battery.back30VoltCalibration)) * (20.f / (float(settings.battery.back50VoltCalibration) - float(settings.battery.back30VoltCalibration))) + 30.f);
-//        return backVoltage;
-//    }
 };
 }
diff --git a/main/globals.h b/main/globals.h
index 8429f1c..457d6fb 100644
--- a/main/globals.h
+++ b/main/globals.h
@@ -60,13 +60,15 @@ public:
 #ifdef FEATURE_SERIAL
                 Serial1,
 #endif
-                settings.controllerHardware.enableFrontLeft, settings.controllerHardware.enableFrontRight, settings.controllerHardware.invertFrontLeft, settings.controllerHardware.invertFrontRight
+                settings.controllerHardware.enableFrontLeft, settings.controllerHardware.enableFrontRight, settings.controllerHardware.invertFrontLeft, settings.controllerHardware.invertFrontRight,
+                settings.battery.front30VoltCalibration, settings.battery.front50VoltCalibration
             },
             Controller {
 #ifdef FEATURE_SERIAL
                 Serial2,
 #endif
-                settings.controllerHardware.enableBackLeft, settings.controllerHardware.enableBackRight, settings.controllerHardware.invertBackLeft, settings.controllerHardware.invertBackRight
+                settings.controllerHardware.enableBackLeft, settings.controllerHardware.enableBackRight, settings.controllerHardware.invertBackLeft, settings.controllerHardware.invertBackRight,
+                settings.battery.back30VoltCalibration, settings.battery.back50VoltCalibration
             }
         }}
     {}