adds more settings, adds auto adjust for damping
This commit is contained in:
Lars Berning
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1b895972af
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b019fb3bd4
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@ -27,7 +27,7 @@ function createRowingEngine (rowerSettings) {
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// However I still keep it constant here, as I still have to figure out the damping physics of a water rower (see below)
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// To measure it for your rowing machine, comment in the logging at the end of "startDrivePhase" function. Then do some
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// strokes on the rower and estimate a value.
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const omegaDotDivOmegaSquare = rowerSettings.omegaDotDivOmegaSquare
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let omegaDotDivOmegaSquare = rowerSettings.omegaDotDivOmegaSquare
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// The moment of inertia of the flywheel kg*m^2
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// A way to measure it is outlined here: https://dvernooy.github.io/projects/ergware/, "Flywheel moment of inertia"
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@ -49,13 +49,13 @@ function createRowingEngine (rowerSettings) {
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const c = rowerSettings.magicConstant
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// jMoment * ωdot = -kDamp * ω^2 during non-power part of stroke
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const kDamp = jMoment * omegaDotDivOmegaSquare
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let kDamp = jMoment * omegaDotDivOmegaSquare
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// s = (k/c)^(1/3)*θ
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const distancePerRevolution = 2.0 * Math.PI * Math.pow((kDamp / c), 1.0 / 3.0)
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let workoutHandler
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const kDampEstimatorAverager = createWeightedAverager(3)
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const kDampEstimatorAverager = createWeightedAverager(5)
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const flankDetector = createMovingFlankDetector(rowerSettings)
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let prevDt = rowerSettings.maximumTimeBetweenImpulses
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let kPower = 0.0
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@ -169,8 +169,15 @@ function createRowingEngine (rowerSettings) {
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if (strokeElapsed - driveElapsed !== 0) {
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kDampEstimatorAverager.pushValue(kDampEstimator / (strokeElapsed - driveElapsed))
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}
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log.debug(`estimated kDamp: ${jMoment * (-1 * kDampEstimatorAverager.weightedAverage())}`)
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log.info(`estimated omegaDotDivOmegaSquare: ${-1 * kDampEstimatorAverager.weightedAverage()}`)
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const _kDamp = jMoment * (-1 * kDampEstimatorAverager.weightedAverage())
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const _omegaDotDivOmegaSquare = -1 * kDampEstimatorAverager.weightedAverage()
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log.debug(`estimated kDamp: ${_kDamp}`)
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log.info(`estimated omegaDotDivOmegaSquare: ${_omegaDotDivOmegaSquare}`)
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if (rowerSettings.autoAdjustDampingConstant) {
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log.debug('auto adjusting kDamp and omegaDotDivOmegaSquare to new values')
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kDamp = _kDamp
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omegaDotDivOmegaSquare = _omegaDotDivOmegaSquare
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}
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workoutHandler.handleStrokeStateChanged({
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strokeState: 'DRIVING'
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})
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@ -15,6 +15,8 @@ import log from 'loglevel'
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log.setLevel(config.loglevel.default)
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export function createGpioTimerService () {
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if (Gpio.accessible) {
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if (config.gpioHighPriority) {
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// setting top (near-real-time) priority for the Gpio process, as we don't want to miss anything
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log.debug('setting priority for the Gpio-service to maximum (-20)')
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try {
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@ -23,16 +25,16 @@ export function createGpioTimerService () {
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} catch (err) {
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log.debug('need root permission to set priority of Gpio-Thread')
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}
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}
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if (Gpio.accessible) {
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// mode can be rising, falling, both
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const reedSensor = new Gpio(17, 'in', 'rising')
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// read the sensor data from one of the Gpio pins of Raspberry Pi
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const sensor = new Gpio(config.gpioPin, 'in', 'rising')
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// use hrtime for time measurement to get a higher time precision
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let hrStartTime = process.hrtime()
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// assumes that GPIO-Port 17 is set to pullup and reed is connected to GND
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// therefore the value is 1 if the reed sensor is open
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reedSensor.watch((err, value) => {
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sensor.watch((err, value) => {
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if (err) {
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throw err
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}
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@ -7,46 +7,60 @@
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!!! Note that changes to this file will be OVERWRITTEN when you update to a new version
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of Open Rowing Monitor. !!!
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To change the settings you should modify the 'config.js' in this folder. Simply copy the
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To change the settings you should modify the 'config/config.js' file. Simply copy the
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options that you would like to change into that file. If 'config.js' does not exist, you
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can use the example file from the 'install' folder.
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*/
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import rowerProfiles from './rowerProfiles.js'
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export default {
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// available log levels: trace, debug, info, warn, error, silent
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// Available log levels: trace, debug, info, warn, error, silent
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loglevel: {
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// the default loglevel
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// The default loglevel
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default: 'info',
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// the log level of of the rowing engine (stroke detection and physics model)
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// The log level of of the rowing engine (stroke detection and physics model)
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RowingEngine: 'warn'
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},
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// selects the Bluetooth Low Energy Profile
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// supported modes: FTMS, FTMSBIKE, PM5
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// Defines the GPIO Pin that is used to read the sensor data from the rowing machine
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// see: https://www.raspberrypi.org/documentation/usage/gpio for the pin layout of the device
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// If you want to use the internal pull-up resistor of the Raspberry Pi you should
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// also configure the pin for that in /boot/config.txt, i.e. 'gpio=17=pu,ip'
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// see: https://www.raspberrypi.org/documentation/configuration/config-txt/gpio.md
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gpioPin: 17,
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// Experimental setting: enable this to boost the system level priority of the thread that
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// measures the rotation speed of the flywheel. This might improve the precision of the
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// measurements (especially on rowers with a fast spinning flywheel)
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gpioHighPriority: false,
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// Selects the Bluetooth Low Energy Profile
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// Supported modes: FTMS, FTMSBIKE, PM5
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bluetoothMode: 'FTMS',
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// turn this on if you want support for Bluetooth Low Energy heart rate monitors
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// will currenty the hear rate and battery level of the first device found
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// Turn this on if you want support for Bluetooth Low Energy heart rate monitors
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// Will currenty connect to the first device found
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heartrateMonitorBLE: true,
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// turn this on if you want support for ANT+ heart rate monitors
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// you will need an ANT+ USB stick for this to work, the following models might work:
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// Turn this on if you want support for ANT+ heart rate monitors
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// You will need an ANT+ USB stick for this to work, the following models might work:
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// - Garmin USB or USB2 ANT+ or an off-brand clone of it (ID 0x1008)
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// - Garmin mini ANT+ (ID 0x1009)
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heartrateMonitorANT: false,
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// defines the name that is used to announce the FTMS Rower via Bluetooth Low Energy (BLE)
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// some rowing training applications expect that the rowing device is announced with a certain name
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// Defines the name that is used to announce the FTMS Rower via Bluetooth Low Energy (BLE)
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// Some rowing training applications expect that the rowing device is announced with a certain name
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ftmsRowerPeripheralName: 'OpenRowingMonitor',
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// defines the name that is used to announce the FTMS Bike via Bluetooth Low Energy (BLE)
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// most bike training applications are fine with any device name
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// Defines the name that is used to announce the FTMS Bike via Bluetooth Low Energy (BLE)
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// Most bike training applications are fine with any device name
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ftmsBikePeripheralName: 'OpenRowingBike',
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// the rower specific settings. Either choose a profile from config/rowerProfiles.js or
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// The rower specific settings. Either choose a profile from config/rowerProfiles.js or
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// define the settings individually. If you find good settings for a new rowing device
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// please send them to us (together with a raw recording of 10 strokes) so we can add
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// the device to the profiles.
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// !! Only change this setting in the config/config.js file, and leave this on DEFAULT as that
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// is the fallback for the default profile settings
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rowerSettings: rowerProfiles.DEFAULT
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}
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@ -22,19 +22,20 @@ export default {
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minimumTimeBetweenImpulses: 0.014,
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maximumTimeBetweenImpulses: 0.5,
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// Percentage change between successive intervals
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maximumDownwardChange: 0.2, // effectively the maximum deceleration
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maximumDownwardChange: 0.25, // effectively the maximum deceleration
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maximumUpwardChange: 1.75, // effectively the maximum acceleration
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// Settings for the rowing phase detection (in seconds)
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flankLength: 1,
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flankLength: 2,
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numberOfErrorsAllowed: 0,
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minimumDriveTime: 0.300,
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minimumRecoveryTime: 0.750,
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// Settings for the rowing phase detection (in seconds)
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minimumDriveTime: 0.500,
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minimumRecoveryTime: 0.800,
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// Needed to determine the damping constant of the rowing machine. This value can be measured in the recovery phase
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// of the stroke (some ergometers do this constantly).
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// However I still keep it constant here, as I still have to figure out the damping physics of a water rower (see below)
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// To measure it for your rowing machine, comment in the logging at the end of "startDrivePhase" function. Then do some
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// strokes on the rower and estimate a value.
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// of the stroke.
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// To display it for your rowing machine, set the logging level of the RowingEngine to 'info'. Then start rowing and
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// you will see the measured values in the log.
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// Open Rowing Monitor can also automatically adjust this value based on the measured damping. To do so, set the setting
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// autoAdjustDampingConstant to true (see below).
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omegaDotDivOmegaSquare: 0.02,
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// The moment of inertia of the flywheel kg*m^2
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@ -43,6 +44,11 @@ export default {
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// plausibility. Note that the power also depends on omegaDotDivOmegaSquare (see above).
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jMoment: 0.49,
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// Set this to true, if you want to automatically update omegaDotDivOmegaSquare and kDamp based on the measured
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// values in the stroke recovery phase. If your rower produces stable damping values, then this could be a good
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// option to dynamically adjust your measurements to the damper setting of your rower.
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autoAdjustDampingConstant: false,
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// A constant that is commonly used to convert flywheel revolutions to a rowed distance
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// see here: http://eodg.atm.ox.ac.uk/user/dudhia/rowing/physics/ergometer.html#section9
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// Concept2 seems to use 2.8, which they admit is an arbitrary number which came close
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@ -66,12 +72,6 @@ export default {
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numOfImpulsesPerRevolution: 2,
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minimumTimeBetweenImpulses: 0.05,
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maximumTimeBetweenImpulses: 1,
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maximumDownwardChange: 0.25,
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maximumUpwardChange: 2,
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flankLength: 2,
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numberOfErrorsAllowed: 0,
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minimumDriveTime: 0.500,
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minimumRecoveryTime: 0.800,
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omegaDotDivOmegaSquare: 0.046,
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jMoment: 0.49,
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liquidFlywheel: true
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@ -82,12 +82,6 @@ export default {
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numOfImpulsesPerRevolution: 1,
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minimumTimeBetweenImpulses: 0.15,
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maximumTimeBetweenImpulses: 0.5,
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maximumDownwardChange: 0.25,
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maximumUpwardChange: 1.75,
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flankLength: 2,
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numberOfErrorsAllowed: 0,
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minimumDriveTime: 0.500,
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minimumRecoveryTime: 0.800,
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omegaDotDivOmegaSquare: 0.019,
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jMoment: 0.4,
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liquidFlywheel: true
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@ -30,5 +30,10 @@ export default {
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jMoment: 0.3,
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liquidFlywheel: false
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}
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// example: set a rower profile, but overwrite some settings:
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rowerSettings: Object.assign(rowerProfiles.DKNR320, {
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autoAdjustDampingConstant: true
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})
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*/
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}
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