Enviolo (NuVinci) Road Bike Fully Automatic Shifter

Developed over 4 years and 14,000 miles for enviolo (NuVinci) CVT hubs using reed switches and excepts power data for fully auto shifting.

Jan 9, 2020

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Devices & Components

Arduino Nano

HC-06 Bluetooth Module

Software & Tools

BT Terminal/Graphics

Project description

Code

enviolo_AutoShifter_v2.3.0.ino

csharp

1/*
2  Bicycle Automatic Shifter Version 2 by Edward Rose 2020
3
4  Uses arduino bike speedometer w serial.print()code by Amanda Ghassaei 2012
5  http://www.instructables.com/id/Arduino-Bike-Speedometer/
6*/
7#include <SPI.h>
8#include  <NRFLite.h>
9#include <avdweb_AnalogReadFast.h>
10#include <PWMServo.h>
11#include  <EEPROM.h>
12
13PWMServo myservo;  // create servo object to control a servo
14//define  pins
15//V1
16//#define potpin A0                                   // analog  pin used to detect handlebar button press
17//#define derailSwitch A2                             //  pin connected to deraileur position reed switch
18//#define reed A3                                      //  pin connected to wheel reed switch
19//#define reed2 6                                      //  pin connected to cadence reed switch
20//V2
21#define derailSwitch 6                                //  pin connected to deraileur position reed switch
22#define reed A2                                      //  pin connected to wheel reed switch
23#define reed2 A3                                     //  pin connected to cadence reed switch
24#define buttonPinL 3                                  //  pin connected to left shifter button
25#define buttonPinR 2                                  //  pin connected to right shifter button
26#define lightSwitch 4                                 //  pin to operate rear light
27//BOTH
28int btLED = 5;                                       //  pin connected to BT LED
29//#define servopot A6                                   //  pin reading voltage of servos internal pot
30#define batVolt A7                                    //  Li-ion voltage via potential divider OLD 10k/ 3.9k NEW 3.3k/ 2.7k
31
32// changable  values stored in EEPROM some calculated on spreadsheet
33// use mode 5 to change  via Serial monitor or Bluetooth
34//Ratio set up
35byte DScalarB = 0;                                   //  big chainring
36byte DScalarS = 0;                                   // small chainring
37//Shifting
38int  ratioOffset = 0;                                // compensates for differances in  ratio profile due to position of hub interface
39int shiftSlope = 0;                                //  shift slope depends on hub under/overdrive ratio and servo position
40//Servo position  ajustment values
41int servoLowlimit = 0;                             // lower  value used in servopos constrain function
42int servoUpLimit = 0;                              //  upper value used in servopos constrain function
43//PID for cadence correction
44float  scalarP = 0;
45float scalarI = 0;
46//float scalarD = 500;                             //  never found D to be necessary
47//Power equation used to get multipler which =  ((sin(powerAv / powerDiv)) * powerMult) + powerAdd;
48int powerDiv = 0;
49byte  powerMult = 0;
50byte powerAdd = 0;
51//Distance measurment
52int cirWheel =  0;                                   // wheel circumference in cm for odometer
53int  firstMult = 200;                                // increase to 2000 if using servopos  540 - 2450
54
55int reedVal;                                         // status  of rear wheel reed switch
56int reedVal2;                                        //  status of crank reed switch
57long timer;                                          //  time for one full rotation (in ms)
58long timer2;                                         //  time for one full rotation (in ms)
59float Wheel;                                         //  outputs of reed switch timer
60int Cadence;
61int Speed;
62int Power;                                            //  power recieved from power meter
63float multipler;                                      //  used in main servopos equation to get correct cadence
64int errorC;                                           //  cadence error
65float prevErrorTotal;                                 // store  offSetI
66//float prevError;                                    // store prev errorC  for offSetD
67float offSetC;                                        // total constrained  cadence offset
68float offSetP;                                        // proportional  offset
69float offSetI;                                        // integral offset
70//float  offSetD;                                        // derivative offset
71int maxReedCounter  = 10;                              // min time (in ms) of one rotation (for debouncing)
72int  reedCounter;
73int reedCounter2;
74int buttonCounter = 0;                                //  push button press counter
75volatile int Counter = 0;
76//int buttons;
77bool  buttonL;                                         // left shifter button status
78bool  buttonR;                                         // right shifter button status
79int  servopos;                                         // value written to servo
80//int  preServopos;
81int switchState2 = 0;                                 // state of  mode switch2 derailleur position
82int DScalar;                                          //  sets the correct scalar depending on derailleur position
83int BTmode = 0;                                       //  read from bluetooth
84int mode = 3;                                         //  mode set by Bluetooth
85int cadenceSet;                                       //  cadence setting
86int setting = 0;                                      // gear/  cadence/ torque setting
87int prevCadenceSet = 60;                              //  delay gives time for the servo to move before being checked for error
88int lipoPercent;                                      // auto shifter battery percent approx
89int  lipoPercentP;                                     // power meter battery percent  approx
90int servovolt;                                        // voltage read  from servo pot by pin A6
91int servoposError;
92int zeroError = 0;                                    //  From power meter diffence between min value and sensorValue
93int torqueSet = 0;                                    // torque setting using shifter
94struct dataStruct  {                                   // data recived from power meter via nRF24L01
95  int value1;                                         // power from power meter
96  int value2;                                         // zeroError from power meter
97  int value3;                                         // lipoPercent from power  meter
98} myData;
99const int numReadings = 5;                            // power  average divide by 2 for time in secs
100int readings[numReadings];                            //  for power average code
101int index = 0;                                        //  for power average code
102int total = 0;                                        //  for power average code
103float powerAv = 0;                                    //  averaged power to avoid oscillations
104int codeTimer = 0;                                    //  triggerd when cadence reed switch closes
105int delayTime = 0;                                    //  time of a crank rotation
106int inputTorque = 0;
107int outputTorque = 0;
108int  offTimer = 0;                                     // save time since bike last moved
109int  lightMode = 0;                                    // save rear light setting
110int  inPut = 0;                                        // light setting input from serial
111int  BTinPut = 0;                                      // program mode serial input
112bool  btStatus = 0;                                    // status of BT LED
113unsigned  long distance = 0;                           // add up cm travelled
114unsigned  long odometer;                               // total distance (100th of a km) travelled,  stored in EEPROM
115NRFLite _radio;
116
117
118void setup() {
119  Serial.begin(9600);
120  _radio.init(0, 7, 10);          // radio id, CE pin, CSN pin
121
122  myservo.attach(SERVO_PIN_A);   // attaches the servo on pin 9 to the servo object
123  pinMode(reed, INPUT);
124  pinMode(reed2, INPUT_PULLUP);  // POWER LATCH
125  pinMode(derailSwitch, INPUT);
126  pinMode(batVolt, INPUT);
127  pinMode(btLED, INPUT);
128  //pinMode(servopot,  INPUT);
129  //V2 only
130  pinMode(buttonPinL, INPUT_PULLUP);
131  pinMode(buttonPinR,  INPUT_PULLUP);
132  pinMode(lightSwitch, INPUT);
133
134  EEPROM.get(20, DScalarB);
135  EEPROM.get(21, DScalarS);
136  EEPROM.get(22, ratioOffset);
137  EEPROM.get(24,  shiftSlope);
138  EEPROM.get(26, servoLowlimit);
139  EEPROM.get(28, servoUpLimit);
140  EEPROM.get(30, scalarP);
141  EEPROM.get(34, scalarI);
142  EEPROM.get(38, powerDiv);
143  EEPROM.get(40, powerMult);
144  EEPROM.get(41, powerAdd);
145  EEPROM.get(42,  cirWheel);
146
147  reedCounter = maxReedCounter;
148  reedCounter2 = maxReedCounter;
149  myservo.write(servoLowlimit);   // give servo a position while setup code finishes
150
151  inPut = EEPROM.read(15);       // get light setting from before last switched  off
152  while (inPut != lightMode) {
153    buttonPress();
154    lightMode ++;
155    if (lightMode > 7) {
156      lightMode = 0;
157    }
158  }
159  // TIMER SETUP-  the timer interrupt allows precise timed measurements of the reed switch
160  //  for more info about configuration of arduino timers see http://arduino.cc/playground/Code/Timer1
161
162  cli();//stop interrupts
163
164  //set timer2 interrupt at 1kHz
165  TCCR2A =  0;// set entire TCCR1A register to 0
166  TCCR2B = 0;// same for TCCR1B
167  TCNT2  = 0;
168  // set timer count for 1kHz increments
169  OCR2A = 249;// = (1/1000)  / (16*10^6)/(1000*64) - 1
170  // turn on CTC mode
171  TCCR2A |= (1 << WGM21);
172  // Set CS11 bit for 64 prescaler
173  TCCR2B |= (1 << CS22);
174  // enable timer  compare interrupt
175  TIMSK2 |= (1 << OCIE2A);
176
177  sei();//allow interrupts
178  //END TIMER SETUP
179}
180
181
182ISR(TIMER2_COMPA_vect) {                               //  Interrupt at freq of 1kHz to measure reed switch
183  reedVal = digitalRead(reed);                         // get status of wheel reed switch
184  if (reedVal) {                                       // if reed switch is closed
185    if (reedCounter  == 0) {                            // min time between pulses has passed
186      Wheel  = ((DScalar * firstMult) / float(timer));  // calculate rotation rate of wheel,  includes multipler for big/small chainrings
187      Speed = ((4817) / float(timer));
188      timer = 0;                                       // reset timer
189      reedCounter  = maxReedCounter;                    // reset reedCounter
190      distance = distance  + cirWheel;                  // add another wheel circumference to distance travelled
191    }
192  }
193  else {                                               // if reed  switch is open
194    if (reedCounter > 0) {                             // don't  let reedCounter go negative
195      reedCounter -= 1;                                //  decrement reedCounter
196    }
197  }
198  if (timer > 2000) {
199    Wheel = 0;
200    Speed = 0;                                         // if no new pulses from  reed switch tire is still, set mph to 0
201  }
202  else {
203    timer += 1;                                        //  increment timer
204  }
205
206  //TIMER1 CADENCE
207  reedVal2 = digitalRead(reed2);           // get status of crank reed switch
208  if (!reedVal2) {
209    if (reedCounter2  == 0) {
210      Cadence = (60000 / float(timer2));
211      codeTimer = 1;                    //  used to time shift at dead spot of pedal stroke
212      delayTime = timer2;
213      timer2 = 0;
214      reedCounter2 = maxReedCounter;
215    }
216  }
217  else  {
218    if (reedCounter2 > 0) {
219      reedCounter2 -= 1;
220    }
221  }
222  if (timer2 > 2000) {
223    Cadence = 0;
224  }
225  else {
226    timer2 += 1;
227  }
228  //V1 two buttons on one pin with resistors, analog read
229  /* buttons  = analogReadFast(potpin);          // check if a handlebar button has been pressed
230
231    if (buttons > 600)                          // time button press
232    {
233     buttonCounter ++;
234    }
235
236    else if (buttons < 400)
237    {
238     buttonCounter --;
239    }
240
241    else
242    {
243     Counter = buttonCounter;
244    }*/
245  // V2 one button per pin
246  buttonL = digitalRead(buttonPinL);
247  buttonR = digitalRead(buttonPinR);
248
249  if (buttonL == LOW)
250  {
251    buttonCounter  ++;
252  }
253  else {
254    if (buttonR == LOW)
255    {
256      buttonCounter  --;
257    }
258    else
259    {
260      Counter = buttonCounter;
261    }
262  }
263}
264void buttonPress() {                // press button on rear light
265  pinMode(lightSwitch, OUTPUT);
266  digitalWrite(lightSwitch, LOW);
267  delay(30);
268  pinMode(lightSwitch, INPUT);
269  delay(30);
270}
271
272void loop() {
273  //  time shift to happen at dead spots of pedal stroke
274  if (Cadence > 38) {
275    if (codeTimer) {
276      delay (delayTime * 0.2); //0.25
277      codeTimer  = 0;
278      mainCode();
279      delay (delayTime * 0.7);  //0.5
280      mainCode();
281    }
282  }
283  else {
284    mainCode();
285    delay (500);
286  }
287}
288void  mainCode() {
289  // power latch circiut switch off and save data
290  /*if (Speed  == 0) {
291    offTimer++;
292    }
293    else {
294    offTimer = 0;
295    }*/
296  // if BT LED connected to D5
297  if (Speed > 0) {
298    offTimer = 0;
299  }
300  else {
301    btStatus = digitalRead(btLED);
302    if (btStatus == LOW) {
303      offTimer++;
304    }
305    else {
306      offTimer = offTimer;
307    }
308  }
309
310  if (offTimer > 30) {                        // switch off after approx  secs
311    EEPROM.get(10, odometer);                 // read last saved 100th of  kms from EEPROM
312    odometer = odometer + (distance / 1000);  // divide by 1000  to convert cm to 100th of a km
313    EEPROM.put(10, odometer);                 //  save distance to odometer
314    pinMode(reed2, OUTPUT);                   // unlatch  power latch circuit
315    digitalWrite(reed2, LOW);
316    distance = 0;                             //  reset distance if Arduino doesn't switch off
317  }
318  // check for input from  bluetooth to change mode
319  if (Serial.available() > 0) {
320    BTmode = Serial.read();
321
322    if (BTmode == '1') {
323      mode = 1;
324      Serial.println("Manual");
325    }
326    else if (BTmode == '2') {
327      mode = 2;
328      Serial.println("CC  on");
329    }
330    else if (BTmode == '3') {
331      mode = 3;
332      Serial.println("PowerOffset");
333    }
334    else if (BTmode == '4') {
335      mode = 4;
336      Serial.println("PowerSlope");
337    }
338    else if (BTmode == '5') {
339      mode = 5;
340      Serial.println("Program  Mode");
341    }
342    else if (BTmode == '6') {
343      mode = 6;
344      Serial.println("Light  Control");
345    }
346    else if (BTmode == '7') {
347      mode = 7;
348      Serial.println("EEPROM  Read");
349    }
350    else if (BTmode == '8') {
351      mode = 8;
352      Serial.println("Servo  manaul control");
353    }
354  }
355  // change gear, cadence or torque setting
356  if (Counter > 50 && Counter <= 500 && setting  < 8) {
357    buttonCounter = 0;
358    setting ++;
359  }
360
361  else if (Counter < -50 && Counter >= -500 && setting  > -4) {
362    buttonCounter = 0;
363    setting  --;
364  }
365
366  else if (Counter  > 500 || Counter < -500) {
367    buttonCounter = 0;
368    setting  = 0;
369  }
370
371  // measure battery %
372  lipoPercent = ((analogReadFast(batVolt) * 0.55) - 385);    // give approx battery percentage but must be calibrated to the voltage divider  used
373
374  //data recived from power meter
375  while (_radio.hasData()) {
376    _radio.readData(&myData);
377
378    Power = myData.value1;
379    zeroError  = myData.value2;
380    lipoPercentP = myData.value3;
381  }
382
383  // get derailluer  position and calculate torque if required and power data available
384  switchState2  = digitalRead(derailSwitch);                 // check status of derailleur position  reed switch
385
386  if (switchState2 == HIGH)                                 //  derailleur position check, DScaler setting and torque calcs
387  {
388    (DScalar  = DScalarS);                                   // small chainring
389    //inputTorque  = ((Power * 9.5488)/(Cadence*1.89));        // calculate ratio chainring/sprocket,  example 34/18
390  }
391
392  else
393  {
394    (DScalar = DScalarB);                                   //  big chainring
395    //inputTorque = ((Power * 9.5488)/(Cadence*2.78));        //  calculate ratio chainring/sprocket, example 50/18
396  }
397  //outputTorque = ((Power  * 9.5488)/(Speed * 12.46));
398
399  if (mode == 7) // EEPROM Read
400  {
401    EEPROM.get(10,  odometer);
402    odometer = odometer + (distance / 1000);             // divide  by 1000 to convert cm to 100th of a km
403    Serial.print("Odometer ");
404    Serial.print(odometer  / 160);                        // divide by 100 for km, 160 for approx miles
405    Serial.println(" miles");
406    /*Serial.println("Press any key to continue");
407      while (!Serial.available()) delay(10);
408      inPut = Serial.read();*/
409    delay(5000);
410    mode = 3;
411  }
412
413  if (mode == 6) //Light control
414  {
415    Serial.println("Enter mode 1 - 7 or 0 for off");
416    while (Serial.available()  == 0) {}
417    inPut = (Serial.parseFloat());
418    if (inPut > 7) {
419      Serial.println("Error");
420    }
421    else {
422      EEPROM.write(15, inPut);
423      while (inPut != lightMode)  {
424        buttonPress();
425        Serial.println(lightMode);
426        lightMode  ++;
427        if (lightMode > 7) {
428          lightMode = 0;
429        }
430      }
431      mode = 3;
432    }
433  }
434  if (mode == 5) //Program mode
435  {
436    Serial.println();
437    Serial.println("Select value to change or 13  to exit");
438    Serial.print("1.  DScalarB       ");
439    Serial.println(DScalarB);
440    Serial.print("2.  DScalarS       ");
441    Serial.println(DScalarS);
442    Serial.print("3.  ratioOffset    ");
443    Serial.println(ratioOffset);
444    Serial.print("4.  shiftSlope     ");
445    Serial.println(shiftSlope);
446    Serial.print("5.  servoLowlimit  ");
447    Serial.println(servoLowlimit);
448    Serial.print("6.  servoUpLimit   ");
449    Serial.println(servoUpLimit);
450    Serial.print("7.  scalarP        ");
451    Serial.println(scalarP);
452    Serial.print("8.  scalarI        ");
453    Serial.println(scalarI);
454    Serial.print("9.  powerDiv       ");
455    Serial.println(powerDiv);
456    Serial.print("10. powerMult      ");
457    Serial.println(powerMult);
458    Serial.print("11. powerAdd       ");
459    Serial.println(powerAdd);
460    Serial.print("12. cirWheel       ");
461    Serial.println(cirWheel);
462    while (Serial.available() ==  0) {}
463    BTinPut = Serial.parseInt();
464
465
466    if (BTinPut == 1) {
467      Serial.println();
468      Serial.print("DScalarB Enter value ");
469      while  (Serial.available() == 0) {}
470      DScalarB = (Serial.parseInt());
471      EEPROM.put(20,  DScalarB);
472      Serial.println();
473      Serial.println(" Saved");
474    }
475    else if (BTinPut == 2) {
476      Serial.println();
477      Serial.print("DScalarS  Enter value ");
478      while (Serial.available() == 0) {}
479      DScalarS =  (Serial.parseInt());
480      EEPROM.put(21, DScalarS);
481      Serial.println();
482      Serial.println(" Saved");
483    }
484    else if (BTinPut == 3) {
485      Serial.println();
486      Serial.print("ratioOffset Enter value ");
487      while (Serial.available()  == 0) {}
488      ratioOffset = (Serial.parseInt());
489      EEPROM.put(22, ratioOffset);
490      Serial.println();
491      Serial.println(" Saved");
492    }
493    else  if (BTinPut == 4) {
494      Serial.println();
495      Serial.print("shiftSlope  Enter value ");
496      while (Serial.available() == 0) {}
497      shiftSlope  = (Serial.parseInt());
498      EEPROM.put(24, shiftSlope);
499      Serial.println();
500      Serial.println(" Saved");
501    }
502    else if (BTinPut == 5) {
503      Serial.println();
504      Serial.print("servoLowlimit Enter value ");
505      while (Serial.available()  == 0) {}
506      servoLowlimit = (Serial.parseInt());
507      EEPROM.put(26, servoLowlimit);
508      Serial.println();
509      Serial.println(" Saved");
510    }
511    else  if (BTinPut == 6) {
512      Serial.println();
513      Serial.print("servoUpLimit  Enter value ");
514      while (Serial.available() == 0) {}
515      servoUpLimit  = (Serial.parseInt());
516      EEPROM.put(28, servoUpLimit);
517      Serial.println();
518      Serial.println(" Saved");
519    }
520    else if (BTinPut == 7) {
521      Serial.println();
522      Serial.print("scalarP Enter value ");
523      while (Serial.available()  == 0) {}
524      scalarP = (Serial.parseFloat());
525      EEPROM.put(30, scalarP);
526      Serial.println();
527      Serial.println(" Saved");
528    }
529    else  if (BTinPut == 8) {
530      Serial.println();
531      Serial.print("scalarI Enter  value ");
532      while (Serial.available() == 0) {}
533      scalarI = (Serial.parseFloat());
534      EEPROM.put(34, scalarI);
535      Serial.println();
536      Serial.println("  Saved");
537    }
538    else if (BTinPut == 9) {
539      Serial.println();
540      Serial.print("powerDiv Enter value ");
541      while (Serial.available()  == 0) {}
542      powerDiv = (Serial.parseInt());
543      EEPROM.put(38, powerDiv);
544      Serial.println();
545      Serial.println(" Saved");
546    }
547    else  if (BTinPut == 10) {
548      Serial.println();
549      Serial.print("powerMult  Enter value ");
550      while (Serial.available() == 0) {}
551      powerMult  = (Serial.parseInt());
552      EEPROM.put(40, powerMult);
553      Serial.println();
554      Serial.println(" Saved");
555    }
556    else if (BTinPut == 11) {
557      Serial.println();
558      Serial.print("powerAdd Enter value ");
559      while  (Serial.available() == 0) {}
560      powerAdd = (Serial.parseInt());
561      EEPROM.put(41,  powerAdd);
562      Serial.println();
563      Serial.println(" Saved");
564    }
565    else if (BTinPut == 12) {
566      Serial.println();
567      Serial.print("cirWheel  Enter value ");
568      while (Serial.available() == 0) {}
569      cirWheel =  (Serial.parseInt());
570      EEPROM.put(42, cirWheel);
571      Serial.println();
572      Serial.println(" Saved");
573    }
574    else if (BTinPut == 13) {
575      mode = 3;
576      Serial.println("Return to run");
577    }
578  }
579  else if (mode == 8) //servo manual control
580  {
581    Serial.println("Use  buttons to move servo or enter a value");
582    Serial.println("Enter negative  number to exit");
583
584    while (Serial.available() == 0) {
585      if (buttonCounter  > 50) {
586        servopos ++;
587        buttonCounter = 0;
588        myservo.write(servopos);
589        Serial.println(servopos);
590      }
591
592      else if (buttonCounter  < -50) {
593        servopos  --;
594        buttonCounter = 0;
595        myservo.write(servopos);
596        Serial.println(servopos);
597      }
598    }
599    servopos = (Serial.parseInt());
600    if (servopos >= 0) {
601      myservo.write(servopos);
602      Serial.println(servopos);
603    }
604    else {
605      mode = 3;
606      Serial.println("Return to run");
607    }
608  }
609  else if (mode == 1) //manual
610  { /*// alternative manaul
611
612      if (buttonCounter > 80 && servopos  < servoUpLimit){
613         servopos  ++;
614         buttonCounter = 0;  }
615
616      else if (buttonCounter < -80  && servopos > servoLowlimit){
617         servopos  --;
618         buttonCounter  = 0;  }
619
620      myservo.write(servopos);
621    */
622    if (setting == 8)
623    {
624      servopos = (servoUpLimit);
625    }
626
627    else if (setting <=  7 && setting >= -3)
628    {
629      servopos = ((((servoUpLimit - servoLowlimit)  / 12) * (setting + 4)) + servoLowlimit);
630    }
631
632    else if (setting ==  -4)
633    {
634      servopos = (servoLowlimit);
635    }
636    myservo.write(servopos);
637
638    //servovolt = analogRead(servopot);                     // read servos internal  pot to get real position
639    //servoposError = servovolt - (((servopos - 2) *  2.84) + 83); // calculate error in servos position
640
641    Serial.print("E");
642    Serial.print(Power);
643    Serial.print(", ");
644    Serial.print(Cadence);
645    Serial.print(", ");
646    Serial.print(Speed);
647    Serial.print(", ");
648    Serial.print(setting);
649    Serial.print(", ");
650    Serial.print(servopos);    // (servopos);
651    Serial.print(", ");
652    Serial.print(lipoPercentP);    //(servoposError);
653    Serial.print(", ");
654    Serial.println(zeroError);
655
656  }
657
658  else if (Power == 0 || mode == 2) // Constant cadence
659  {
660    if  (setting == 4)
661    {
662      cadenceSet = 50;
663    }
664
665    else if (setting  == 3)
666    {
667      cadenceSet = 60;
668    }
669
670    else if (setting ==  2)
671    {
672      cadenceSet = 65;
673    }
674
675    else if (setting == 1)
676    {
677      cadenceSet = 68;
678    }
679
680    else if (setting == 0)
681    {
682      cadenceSet = 72;
683    }
684
685    else if (setting == -1)
686    {
687      cadenceSet = 75;
688    }
689
690    else if (setting == -2)
691    {
692      cadenceSet = 80;
693    }
694
695    else if (setting == -3)
696    {
697      cadenceSet = 90;
698    }
699
700    else if (setting == -4)
701    {
702      cadenceSet = 100;
703    }
704    multipler = shiftSlope / cadenceSet;
705
706    errorC = (Cadence - prevCadenceSet);
707
708    // calculate offsetP
709    if  ((Cadence > (cadenceSet + 10)) && (Cadence < 200))
710    {
711      offSetP = (multipler  / scalarP);
712    }
713    else if (Cadence < 38)
714    {
715      offSetP = 0;
716    }
717    else {
718      offSetP = (sin((errorC) * 0.15)) * (multipler / scalarP);
719    }
720
721    // calculate offsetI
722    if (Cadence < 38)
723    {
724      offSetI  = 0;
725    }
726    else {
727      offSetI = constrain ((prevErrorTotal + (errorC  * scalarI)), -1.5, 3); //-1.5, 1.5
728    }
729    prevErrorTotal = offSetI;
730    /*
731      // calculate offsetD
732      if (Cadence < 38)
733         {offSetI  = 0;}
734      else {
735      offSetD = constrain(((errorC - prevError) * scalarD),-3,15);
736                   }
737      prevError = errorC;
738    */
739    offSetC = offSetP  + offSetI; // + offSetD;
740
741    servopos = constrain((ratioOffset + (Wheel *  (multipler + offSetC))), servoLowlimit, servoUpLimit); // calculates servopos, sets  the limits on under/overdrive.
742    //multiplier sets the cadence, fixed offset  compensates for difference in ratio profile.
743    myservo.write(servopos);
744
745    //CALIBRATE
746    /*servovolt = analogRead(servopot);
747      servoposError  = servovolt-(((servoposD-2)*2.84)+83);
748
749      Serial.print("E");                //  send values via bluetooth or serial monitor for graphing or logging.
750      Serial.print(Power);            // "E" enables an app called Bluetooth Graphics to recognise it as  data.
751      Serial.print(", ");
752      Serial.print(Cadence);
753      Serial.print(",  ");
754      Serial.print(Speed);
755      Serial.print(", ");
756      Serial.print(switchState2);
757      Serial.print(", ");
758      Serial.print(servoposD);     //cadenceSet
759      Serial.print(", ");
760      Serial.print(servoposError);   //lipoPercentP
761      Serial.print(", ");
762      Serial.println(zeroError);
763    */
764
765    Serial.print("E");                // send values via bluetooth or serial monitor  for graphing or logging.
766    Serial.print(Power);            // "E" enables  an app called Bluetooth Graphics to recognise it as data.
767    Serial.print(",  ");
768    Serial.print(Cadence);
769    Serial.print(", ");
770    Serial.print(Speed);
771    Serial.print(", ");
772    Serial.print(setting);  // lipoPercent
773    Serial.print(",  ");
774    Serial.print(lipoPercent);    //cadenceSet, servopos, outputTorque
775    Serial.print(", ");
776    Serial.print(lipoPercentP);
777    Serial.print(",  ");
778    Serial.println(zeroError);
779    //APP
780    /*
781      Serial.print("  "); //Prevents The operation * cannot accept the arguments: , [*empty-string*],  [-0.24]
782      Serial.print(Power);
783      Serial.print(",");
784      Serial.print(Cadence);
785      Serial.print(",");
786      Serial.print(Speed);
787      Serial.print(",");
788      Serial.print(cadenceSet);
789      Serial.print(",");
790      Serial.print(offSetC);
791      Serial.print(",");
792      Serial.print(setting);
793      Serial.print(",");
794      Serial.print(lipoPercent);
795      Serial.print(",");
796      Serial.print(lipoPercentP);
797      Serial.print(",");
798      Serial.print(zeroError);
799      Serial.print(",");
800      Serial.print(inputTorque);
801      Serial.print(",");
802      Serial.println(outputTorque);  */
803
804    prevCadenceSet = cadenceSet;     //store prev cadence setpoint
805    // preServoposD = servoposD;
806  }
807
808  else if (Power > 0 && mode == 3)  // Power1 buttons change powerAdd
809  {
810    // average power 2.5 secs worked  best less results in oscillations, more to much lag
811    total = total - readings[index];
812    readings[index] = Power;
813    total = total + readings[index];
814    index  = index + 1;
815    if (index >= numReadings)
816      index = 0;
817    powerAv  = total / numReadings;
818
819    multipler = ((sin(powerAv / powerDiv)) * powerMult)  + (setting + powerAdd);
820    cadenceSet = shiftSlope / multipler;
821
822    errorC  = (Cadence - cadenceSet);
823    // calculate offsetP
824    if ((Cadence > (cadenceSet  + 10)) && (Cadence < 200))
825    {
826      offSetP = (multipler / 11);
827    }
828    else if (Cadence < 38)
829    {
830      offSetP = 0;
831    }
832    else {
833      offSetP = (sin((errorC) * 0.15)) * (multipler / 12);
834    }
835
836    //  calculate offsetI
837    if (Cadence < 38)
838    {
839      offSetI = 0;
840    }
841    else {
842      offSetI = constrain ((prevErrorTotal + (errorC * scalarI)),  -1.5, 1.5);
843    }
844    prevErrorTotal = offSetI;
845
846    offSetC = offSetP  + offSetI; // + offSetD;
847
848    servopos = constrain((ratioOffset + (Wheel *  (multipler + offSetC))), servoLowlimit, servoUpLimit);
849
850    myservo.write(servopos);
851
852    //CALIBRATE
853    /*servovolt = analogRead(servopot);
854      servoposError  = servovolt-(((servoposD-2)*2.84)+83);
855
856      Serial.print("E");                //  send values via bluetooth or serial monitor for graphing or logging.
857      Serial.print(Power);            // "E" enables an app called Bluetooth Graphics to recognise it as  data.
858      Serial.print(", ");
859      Serial.print(Cadence);
860      Serial.print(",  ");
861      Serial.print(Speed);
862      Serial.print(", ");
863      Serial.print(switchState2);
864      Serial.print(", ");
865      Serial.print(servoposD);     //cadenceSet
866      Serial.print(", ");
867      Serial.print(servoposError);   //lipoPercentP
868      Serial.print(", ");
869      Serial.println(zeroError);
870    */
871    Serial.print("E");
872    Serial.print(Power);
873    Serial.print(", ");
874    Serial.print(Cadence);
875    Serial.print(", ");
876    Serial.print(Speed);
877    Serial.print(", ");
878    Serial.print(setting);     // lipoPercent,inputTorque
879    Serial.print(",  ");
880    Serial.print(lipoPercent);    //cadenceSet, servopos, outputTorque
881    Serial.print(", ");
882    Serial.print(lipoPercentP);
883    Serial.print(",  ");
884    Serial.println(zeroError);
885
886    /* //APP
887      Serial.print("  "); //Prevents The operation * cannot accept the arguments: , [*empty-string*],  [-0.24]
888      Serial.print(Power);
889      Serial.print(",");
890      Serial.print(Cadence);
891      Serial.print(",");
892      Serial.print(Speed);
893      Serial.print(",");
894      Serial.print(cadenceSet);
895      Serial.print(",");
896      Serial.print(offSetC);
897      Serial.print(",");
898      Serial.print(setting);
899      Serial.print(",");
900      Serial.print(lipoPercent);
901      Serial.print(",");
902      Serial.print(lipoPercentP);
903      Serial.print(",");
904      Serial.print(zeroError);
905      Serial.print(",");
906      Serial.print(inputTorque);
907      Serial.print(",");
908      Serial.println(outputTorque);
909    */
910  }
911
912  else if (Power > 0 && mode == 4) // Power2 buttons change  powerMult
913  {
914    // average power
915    total = total - readings[index];
916    readings[index] = Power;
917    total = total + readings[index];
918    index  = index + 1;
919    if (index >= numReadings)
920      index = 0;
921    powerAv  = total / numReadings;
922
923    multipler = ((sin(powerAv / powerDiv)) * (setting  + powerMult)) + powerAdd;
924    cadenceSet = shiftSlope / multipler;
925
926    errorC  = (Cadence - cadenceSet);
927    // calculate offsetP
928    if ((Cadence > (cadenceSet  + 10)) && (Cadence < 200))
929    {
930      offSetP = (multipler / 11);
931    }
932    else if (Cadence < 38)
933    {
934      offSetP = 0;
935    }
936    else {
937      offSetP = (sin((errorC) * 0.15)) * (multipler / 12);
938    }
939
940    //  calculate offsetI
941    if (Cadence < 38)
942    {
943      offSetI = 0;
944    }
945    else {
946      offSetI = constrain ((prevErrorTotal + (errorC * scalarI)),  -1.5, 1.5);
947    }
948    prevErrorTotal = offSetI;
949
950    offSetC = offSetP  + offSetI; // + offSetD;
951
952    servopos = constrain((ratioOffset + (Wheel *  (multipler + offSetC))), servoLowlimit, servoUpLimit);
953
954    myservo.write(servopos);
955
956    Serial.print("E");
957    Serial.print(Power);
958    Serial.print(", ");
959    Serial.print(Cadence);
960    Serial.print(", ");
961    Serial.print(Speed);
962    Serial.print(", ");
963    Serial.print(setting);     // lipoPercent,inputTorque
964    Serial.print(", ");
965    Serial.print(lipoPercent);    //cadenceSet, servopos,  outputTorque
966    Serial.print(", ");
967    Serial.print(lipoPercentP);
968    Serial.print(", ");
969    Serial.println(zeroError);
970    /*
971      Serial.print("E");
972      Serial.print(Power);
973      Serial.print(", ");
974      Serial.print(Cadence);
975      Serial.print(", ");
976      Serial.print(Speed);
977      Serial.print(",  ");
978      Serial.print(setting);     //lipoPercent
979      Serial.print(",  ");
980      Serial.print(cadenceSet);     //servopos
981      Serial.print(",  ");
982      Serial.print(offSetC);   //lipoPercentP
983      Serial.print(",  ");
984      Serial.println(zeroError);
985
986      //APP
987      Serial.print("  "); //Prevents The operation * cannot accept the arguments: , [*empty-string*],  [-0.24]
988      Serial.print(Power);
989      Serial.print(",");
990      Serial.print(Cadence);
991      Serial.print(",");
992      Serial.print(Speed);
993      Serial.print(",");
994      Serial.print(cadenceSet);
995      Serial.print(",");
996      Serial.print(offSetC);
997      Serial.print(",");
998      Serial.print(setting);
999      Serial.print(",");
1000      Serial.print(lipoPercent);
1001      Serial.print(",");
1002      Serial.print(lipoPercentP);
1003      Serial.print(",");
1004      Serial.print(zeroError);
1005      Serial.print(",");
1006      Serial.print(inputTorque);
1007      Serial.print(",");
1008      Serial.println(outputTorque);
1009    */
1010  }
1011}
1012

/*
  Bicycle Automatic Shifter Version 2 by Edward Rose 2020

  Uses arduino bike speedometer w serial.print()code by Amanda Ghassaei 2012
  http://www.instructables.com/id/Arduino-Bike-Speedometer/
*/
#include <SPI.h>
#include  <NRFLite.h>
#include <avdweb_AnalogReadFast.h>
#include <PWMServo.h>
#include  <EEPROM.h>

PWMServo myservo;  // create servo object to control a servo
//define  pins
//V1
//#define potpin A0                                   // analog  pin used to detect handlebar button press
//#define derailSwitch A2                             //  pin connected to deraileur position reed switch
//#define reed A3                                      //  pin connected to wheel reed switch
//#define reed2 6                                      //  pin connected to cadence reed switch
//V2
#define derailSwitch 6                                //  pin connected to deraileur position reed switch
#define reed A2                                      //  pin connected to wheel reed switch
#define reed2 A3                                     //  pin connected to cadence reed switch
#define buttonPinL 3                                  //  pin connected to left shifter button
#define buttonPinR 2                                  //  pin connected to right shifter button
#define lightSwitch 4                                 //  pin to operate rear light
//BOTH
int btLED = 5;                                       //  pin connected to BT LED
//#define servopot A6                                   //  pin reading voltage of servos internal pot
#define batVolt A7                                    //  Li-ion voltage via potential divider OLD 10k/ 3.9k NEW 3.3k/ 2.7k

// changable  values stored in EEPROM some calculated on spreadsheet
// use mode 5 to change  via Serial monitor or Bluetooth
//Ratio set up
byte DScalarB = 0;                                   //  big chainring
byte DScalarS = 0;                                   // small chainring
//Shifting
int  ratioOffset = 0;                                // compensates for differances in  ratio profile due to position of hub interface
int shiftSlope = 0;                                //  shift slope depends on hub under/overdrive ratio and servo position
//Servo position  ajustment values
int servoLowlimit = 0;                             // lower  value used in servopos constrain function
int servoUpLimit = 0;                              //  upper value used in servopos constrain function
//PID for cadence correction
float  scalarP = 0;
float scalarI = 0;
//float scalarD = 500;                             //  never found D to be necessary
//Power equation used to get multipler which =  ((sin(powerAv / powerDiv)) * powerMult) + powerAdd;
int powerDiv = 0;
byte  powerMult = 0;
byte powerAdd = 0;
//Distance measurment
int cirWheel =  0;                                   // wheel circumference in cm for odometer
int  firstMult = 200;                                // increase to 2000 if using servopos  540 - 2450

int reedVal;                                         // status  of rear wheel reed switch
int reedVal2;                                        //  status of crank reed switch
long timer;                                          //  time for one full rotation (in ms)
long timer2;                                         //  time for one full rotation (in ms)
float Wheel;                                         //  outputs of reed switch timer
int Cadence;
int Speed;
int Power;                                            //  power recieved from power meter
float multipler;                                      //  used in main servopos equation to get correct cadence
int errorC;                                           //  cadence error
float prevErrorTotal;                                 // store  offSetI
//float prevError;                                    // store prev errorC  for offSetD
float offSetC;                                        // total constrained  cadence offset
float offSetP;                                        // proportional  offset
float offSetI;                                        // integral offset
//float  offSetD;                                        // derivative offset
int maxReedCounter  = 10;                              // min time (in ms) of one rotation (for debouncing)
int  reedCounter;
int reedCounter2;
int buttonCounter = 0;                                //  push button press counter
volatile int Counter = 0;
//int buttons;
bool  buttonL;                                         // left shifter button status
bool  buttonR;                                         // right shifter button status
int  servopos;                                         // value written to servo
//int  preServopos;
int switchState2 = 0;                                 // state of  mode switch2 derailleur position
int DScalar;                                          //  sets the correct scalar depending on derailleur position
int BTmode = 0;                                       //  read from bluetooth
int mode = 3;                                         //  mode set by Bluetooth
int cadenceSet;                                       //  cadence setting
int setting = 0;                                      // gear/  cadence/ torque setting
int prevCadenceSet = 60;                              //  delay gives time for the servo to move before being checked for error
int lipoPercent;                                      // auto shifter battery percent approx
int  lipoPercentP;                                     // power meter battery percent  approx
int servovolt;                                        // voltage read  from servo pot by pin A6
int servoposError;
int zeroError = 0;                                    //  From power meter diffence between min value and sensorValue
int torqueSet = 0;                                    // torque setting using shifter
struct dataStruct  {                                   // data recived from power meter via nRF24L01
  int value1;                                         // power from power meter
  int value2;                                         // zeroError from power meter
  int value3;                                         // lipoPercent from power  meter
} myData;
const int numReadings = 5;                            // power  average divide by 2 for time in secs
int readings[numReadings];                            //  for power average code
int index = 0;                                        //  for power average code
int total = 0;                                        //  for power average code
float powerAv = 0;                                    //  averaged power to avoid oscillations
int codeTimer = 0;                                    //  triggerd when cadence reed switch closes
int delayTime = 0;                                    //  time of a crank rotation
int inputTorque = 0;
int outputTorque = 0;
int  offTimer = 0;                                     // save time since bike last moved
int  lightMode = 0;                                    // save rear light setting
int  inPut = 0;                                        // light setting input from serial
int  BTinPut = 0;                                      // program mode serial input
bool  btStatus = 0;                                    // status of BT LED
unsigned  long distance = 0;                           // add up cm travelled
unsigned  long odometer;                               // total distance (100th of a km) travelled,  stored in EEPROM
NRFLite _radio;


void setup() {
  Serial.begin(9600);
  _radio.init(0, 7, 10);          // radio id, CE pin, CSN pin

  myservo.attach(SERVO_PIN_A);   // attaches the servo on pin 9 to the servo object
  pinMode(reed, INPUT);
  pinMode(reed2, INPUT_PULLUP);  // POWER LATCH
  pinMode(derailSwitch, INPUT);
  pinMode(batVolt, INPUT);
  pinMode(btLED, INPUT);
  //pinMode(servopot,  INPUT);
  //V2 only
  pinMode(buttonPinL, INPUT_PULLUP);
  pinMode(buttonPinR,  INPUT_PULLUP);
  pinMode(lightSwitch, INPUT);

  EEPROM.get(20, DScalarB);
  EEPROM.get(21, DScalarS);
  EEPROM.get(22, ratioOffset);
  EEPROM.get(24,  shiftSlope);
  EEPROM.get(26, servoLowlimit);
  EEPROM.get(28, servoUpLimit);
  EEPROM.get(30, scalarP);
  EEPROM.get(34, scalarI);
  EEPROM.get(38, powerDiv);
  EEPROM.get(40, powerMult);
  EEPROM.get(41, powerAdd);
  EEPROM.get(42,  cirWheel);

  reedCounter = maxReedCounter;
  reedCounter2 = maxReedCounter;
  myservo.write(servoLowlimit);   // give servo a position while setup code finishes

  inPut = EEPROM.read(15);       // get light setting from before last switched  off
  while (inPut != lightMode) {
    buttonPress();
    lightMode ++;
    if (lightMode > 7) {
      lightMode = 0;
    }
  }
  // TIMER SETUP-  the timer interrupt allows precise timed measurements of the reed switch
  //  for more info about configuration of arduino timers see http://arduino.cc/playground/Code/Timer1

  cli();//stop interrupts

  //set timer2 interrupt at 1kHz
  TCCR2A =  0;// set entire TCCR1A register to 0
  TCCR2B = 0;// same for TCCR1B
  TCNT2  = 0;
  // set timer count for 1kHz increments
  OCR2A = 249;// = (1/1000)  / (16*10^6)/(1000*64) - 1
  // turn on CTC mode
  TCCR2A |= (1 << WGM21);
  // Set CS11 bit for 64 prescaler
  TCCR2B |= (1 << CS22);
  // enable timer  compare interrupt
  TIMSK2 |= (1 << OCIE2A);

  sei();//allow interrupts
  //END TIMER SETUP
}


ISR(TIMER2_COMPA_vect) {                               //  Interrupt at freq of 1kHz to measure reed switch
  reedVal = digitalRead(reed);                         // get status of wheel reed switch
  if (reedVal) {                                       // if reed switch is closed
    if (reedCounter  == 0) {                            // min time between pulses has passed
      Wheel  = ((DScalar * firstMult) / float(timer));  // calculate rotation rate of wheel,  includes multipler for big/small chainrings
      Speed = ((4817) / float(timer));
      timer = 0;                                       // reset timer
      reedCounter  = maxReedCounter;                    // reset reedCounter
      distance = distance  + cirWheel;                  // add another wheel circumference to distance travelled
    }
  }
  else {                                               // if reed  switch is open
    if (reedCounter > 0) {                             // don't  let reedCounter go negative
      reedCounter -= 1;                                //  decrement reedCounter
    }
  }
  if (timer > 2000) {
    Wheel = 0;
    Speed = 0;                                         // if no new pulses from  reed switch tire is still, set mph to 0
  }
  else {
    timer += 1;                                        //  increment timer
  }

  //TIMER1 CADENCE
  reedVal2 = digitalRead(reed2);           // get status of crank reed switch
  if (!reedVal2) {
    if (reedCounter2  == 0) {
      Cadence = (60000 / float(timer2));
      codeTimer = 1;                    //  used to time shift at dead spot of pedal stroke
      delayTime = timer2;
      timer2 = 0;
      reedCounter2 = maxReedCounter;
    }
  }
  else  {
    if (reedCounter2 > 0) {
      reedCounter2 -= 1;
    }
  }
  if (timer2 > 2000) {
    Cadence = 0;
  }
  else {
    timer2 += 1;
  }
  //V1 two buttons on one pin with resistors, analog read
  /* buttons  = analogReadFast(potpin);          // check if a handlebar button has been pressed

    if (buttons > 600)                          // time button press
    {
     buttonCounter ++;
    }

    else if (buttons < 400)
    {
     buttonCounter --;
    }

    else
    {
     Counter = buttonCounter;
    }*/
  // V2 one button per pin
  buttonL = digitalRead(buttonPinL);
  buttonR = digitalRead(buttonPinR);

  if (buttonL == LOW)
  {
    buttonCounter  ++;
  }
  else {
    if (buttonR == LOW)
    {
      buttonCounter  --;
    }
    else
    {
      Counter = buttonCounter;
    }
  }
}
void buttonPress() {                // press button on rear light
  pinMode(lightSwitch, OUTPUT);
  digitalWrite(lightSwitch, LOW);
  delay(30);
  pinMode(lightSwitch, INPUT);
  delay(30);
}

void loop() {
  //  time shift to happen at dead spots of pedal stroke
  if (Cadence > 38) {
    if (codeTimer) {
      delay (delayTime * 0.2); //0.25
      codeTimer  = 0;
      mainCode();
      delay (delayTime * 0.7);  //0.5
      mainCode();
    }
  }
  else {
    mainCode();
    delay (500);
  }
}
void  mainCode() {
  // power latch circiut switch off and save data
  /*if (Speed  == 0) {
    offTimer++;
    }
    else {
    offTimer = 0;
    }*/
  // if BT LED connected to D5
  if (Speed > 0) {
    offTimer = 0;
  }
  else {
    btStatus = digitalRead(btLED);
    if (btStatus == LOW) {
      offTimer++;
    }
    else {
      offTimer = offTimer;
    }
  }

  if (offTimer > 30) {                        // switch off after approx  secs
    EEPROM.get(10, odometer);                 // read last saved 100th of  kms from EEPROM
    odometer = odometer + (distance / 1000);  // divide by 1000  to convert cm to 100th of a km
    EEPROM.put(10, odometer);                 //  save distance to odometer
    pinMode(reed2, OUTPUT);                   // unlatch  power latch circuit
    digitalWrite(reed2, LOW);
    distance = 0;                             //  reset distance if Arduino doesn't switch off
  }
  // check for input from  bluetooth to change mode
  if (Serial.available() > 0) {
    BTmode = Serial.read();

    if (BTmode == '1') {
      mode = 1;
      Serial.println("Manual");
    }
    else if (BTmode == '2') {
      mode = 2;
      Serial.println("CC  on");
    }
    else if (BTmode == '3') {
      mode = 3;
      Serial.println("PowerOffset");
    }
    else if (BTmode == '4') {
      mode = 4;
      Serial.println("PowerSlope");
    }
    else if (BTmode == '5') {
      mode = 5;
      Serial.println("Program  Mode");
    }
    else if (BTmode == '6') {
      mode = 6;
      Serial.println("Light  Control");
    }
    else if (BTmode == '7') {
      mode = 7;
      Serial.println("EEPROM  Read");
    }
    else if (BTmode == '8') {
      mode = 8;
      Serial.println("Servo  manaul control");
    }
  }
  // change gear, cadence or torque setting
  if (Counter > 50 && Counter <= 500 && setting  < 8) {
    buttonCounter = 0;
    setting ++;
  }

  else if (Counter < -50 && Counter >= -500 && setting  > -4) {
    buttonCounter = 0;
    setting  --;
  }

  else if (Counter  > 500 || Counter < -500) {
    buttonCounter = 0;
    setting  = 0;
  }

  // measure battery %
  lipoPercent = ((analogReadFast(batVolt) * 0.55) - 385);    // give approx battery percentage but must be calibrated to the voltage divider  used

  //data recived from power meter
  while (_radio.hasData()) {
    _radio.readData(&myData);

    Power = myData.value1;
    zeroError  = myData.value2;
    lipoPercentP = myData.value3;
  }

  // get derailluer  position and calculate torque if required and power data available
  switchState2  = digitalRead(derailSwitch);                 // check status of derailleur position  reed switch

  if (switchState2 == HIGH)                                 //  derailleur position check, DScaler setting and torque calcs
  {
    (DScalar  = DScalarS);                                   // small chainring
    //inputTorque  = ((Power * 9.5488)/(Cadence*1.89));        // calculate ratio chainring/sprocket,  example 34/18
  }

  else
  {
    (DScalar = DScalarB);                                   //  big chainring
    //inputTorque = ((Power * 9.5488)/(Cadence*2.78));        //  calculate ratio chainring/sprocket, example 50/18
  }
  //outputTorque = ((Power  * 9.5488)/(Speed * 12.46));

  if (mode == 7) // EEPROM Read
  {
    EEPROM.get(10,  odometer);
    odometer = odometer + (distance / 1000);             // divide  by 1000 to convert cm to 100th of a km
    Serial.print("Odometer ");
    Serial.print(odometer  / 160);                        // divide by 100 for km, 160 for approx miles
    Serial.println(" miles");
    /*Serial.println("Press any key to continue");
      while (!Serial.available()) delay(10);
      inPut = Serial.read();*/
    delay(5000);
    mode = 3;
  }

  if (mode == 6) //Light control
  {
    Serial.println("Enter mode 1 - 7 or 0 for off");
    while (Serial.available()  == 0) {}
    inPut = (Serial.parseFloat());
    if (inPut > 7) {
      Serial.println("Error");
    }
    else {
      EEPROM.write(15, inPut);
      while (inPut != lightMode)  {
        buttonPress();
        Serial.println(lightMode);
        lightMode  ++;
        if (lightMode > 7) {
          lightMode = 0;
        }
      }
      mode = 3;
    }
  }
  if (mode == 5) //Program mode
  {
    Serial.println();
    Serial.println("Select value to change or 13  to exit");
    Serial.print("1.  DScalarB       ");
    Serial.println(DScalarB);
    Serial.print("2.  DScalarS       ");
    Serial.println(DScalarS);
    Serial.print("3.  ratioOffset    ");
    Serial.println(ratioOffset);
    Serial.print("4.  shiftSlope     ");
    Serial.println(shiftSlope);
    Serial.print("5.  servoLowlimit  ");
    Serial.println(servoLowlimit);
    Serial.print("6.  servoUpLimit   ");
    Serial.println(servoUpLimit);
    Serial.print("7.  scalarP        ");
    Serial.println(scalarP);
    Serial.print("8.  scalarI        ");
    Serial.println(scalarI);
    Serial.print("9.  powerDiv       ");
    Serial.println(powerDiv);
    Serial.print("10. powerMult      ");
    Serial.println(powerMult);
    Serial.print("11. powerAdd       ");
    Serial.println(powerAdd);
    Serial.print("12. cirWheel       ");
    Serial.println(cirWheel);
    while (Serial.available() ==  0) {}
    BTinPut = Serial.parseInt();


    if (BTinPut == 1) {
      Serial.println();
      Serial.print("DScalarB Enter value ");
      while  (Serial.available() == 0) {}
      DScalarB = (Serial.parseInt());
      EEPROM.put(20,  DScalarB);
      Serial.println();
      Serial.println(" Saved");
    }
    else if (BTinPut == 2) {
      Serial.println();
      Serial.print("DScalarS  Enter value ");
      while (Serial.available() == 0) {}
      DScalarS =  (Serial.parseInt());
      EEPROM.put(21, DScalarS);
      Serial.println();
      Serial.println(" Saved");
    }
    else if (BTinPut == 3) {
      Serial.println();
      Serial.print("ratioOffset Enter value ");
      while (Serial.available()  == 0) {}
      ratioOffset = (Serial.parseInt());
      EEPROM.put(22, ratioOffset);
      Serial.println();
      Serial.println(" Saved");
    }
    else  if (BTinPut == 4) {
      Serial.println();
      Serial.print("shiftSlope  Enter value ");
      while (Serial.available() == 0) {}
      shiftSlope  = (Serial.parseInt());
      EEPROM.put(24, shiftSlope);
      Serial.println();
      Serial.println(" Saved");
    }
    else if (BTinPut == 5) {
      Serial.println();
      Serial.print("servoLowlimit Enter value ");
      while (Serial.available()  == 0) {}
      servoLowlimit = (Serial.parseInt());
      EEPROM.put(26, servoLowlimit);
      Serial.println();
      Serial.println(" Saved");
    }
    else  if (BTinPut == 6) {
      Serial.println();
      Serial.print("servoUpLimit  Enter value ");
      while (Serial.available() == 0) {}
      servoUpLimit  = (Serial.parseInt());
      EEPROM.put(28, servoUpLimit);
      Serial.println();
      Serial.println(" Saved");
    }
    else if (BTinPut == 7) {
      Serial.println();
      Serial.print("scalarP Enter value ");
      while (Serial.available()  == 0) {}
      scalarP = (Serial.parseFloat());
      EEPROM.put(30, scalarP);
      Serial.println();
      Serial.println(" Saved");
    }
    else  if (BTinPut == 8) {
      Serial.println();
      Serial.print("scalarI Enter  value ");
      while (Serial.available() == 0) {}
      scalarI = (Serial.parseFloat());
      EEPROM.put(34, scalarI);
      Serial.println();
      Serial.println("  Saved");
    }
    else if (BTinPut == 9) {
      Serial.println();
      Serial.print("powerDiv Enter value ");
      while (Serial.available()  == 0) {}
      powerDiv = (Serial.parseInt());
      EEPROM.put(38, powerDiv);
      Serial.println();
      Serial.println(" Saved");
    }
    else  if (BTinPut == 10) {
      Serial.println();
      Serial.print("powerMult  Enter value ");
      while (Serial.available() == 0) {}
      powerMult  = (Serial.parseInt());
      EEPROM.put(40, powerMult);
      Serial.println();
      Serial.println(" Saved");
    }
    else if (BTinPut == 11) {
      Serial.println();
      Serial.print("powerAdd Enter value ");
      while  (Serial.available() == 0) {}
      powerAdd = (Serial.parseInt());
      EEPROM.put(41,  powerAdd);
      Serial.println();
      Serial.println(" Saved");
    }
    else if (BTinPut == 12) {
      Serial.println();
      Serial.print("cirWheel  Enter value ");
      while (Serial.available() == 0) {}
      cirWheel =  (Serial.parseInt());
      EEPROM.put(42, cirWheel);
      Serial.println();
      Serial.println(" Saved");
    }
    else if (BTinPut == 13) {
      mode = 3;
      Serial.println("Return to run");
    }
  }
  else if (mode == 8) //servo manual control
  {
    Serial.println("Use  buttons to move servo or enter a value");
    Serial.println("Enter negative  number to exit");

    while (Serial.available() == 0) {
      if (buttonCounter  > 50) {
        servopos ++;
        buttonCounter = 0;
        myservo.write(servopos);
        Serial.println(servopos);
      }

      else if (buttonCounter  < -50) {
        servopos  --;
        buttonCounter = 0;
        myservo.write(servopos);
        Serial.println(servopos);
      }
    }
    servopos = (Serial.parseInt());
    if (servopos >= 0) {
      myservo.write(servopos);
      Serial.println(servopos);
    }
    else {
      mode = 3;
      Serial.println("Return to run");
    }
  }
  else if (mode == 1) //manual
  { /*// alternative manaul

      if (buttonCounter > 80 && servopos  < servoUpLimit){
         servopos  ++;
         buttonCounter = 0;  }

      else if (buttonCounter < -80  && servopos > servoLowlimit){
         servopos  --;
         buttonCounter  = 0;  }

      myservo.write(servopos);
    */
    if (setting == 8)
    {
      servopos = (servoUpLimit);
    }

    else if (setting <=  7 && setting >= -3)
    {
      servopos = ((((servoUpLimit - servoLowlimit)  / 12) * (setting + 4)) + servoLowlimit);
    }

    else if (setting ==  -4)
    {
      servopos = (servoLowlimit);
    }
    myservo.write(servopos);

    //servovolt = analogRead(servopot);                     // read servos internal  pot to get real position
    //servoposError = servovolt - (((servopos - 2) *  2.84) + 83); // calculate error in servos position

    Serial.print("E");
    Serial.print(Power);
    Serial.print(", ");
    Serial.print(Cadence);
    Serial.print(", ");
    Serial.print(Speed);
    Serial.print(", ");
    Serial.print(setting);
    Serial.print(", ");
    Serial.print(servopos);    // (servopos);
    Serial.print(", ");
    Serial.print(lipoPercentP);    //(servoposError);
    Serial.print(", ");
    Serial.println(zeroError);

  }

  else if (Power == 0 || mode == 2) // Constant cadence
  {
    if  (setting == 4)
    {
      cadenceSet = 50;
    }

    else if (setting  == 3)
    {
      cadenceSet = 60;
    }

    else if (setting ==  2)
    {
      cadenceSet = 65;
    }

    else if (setting == 1)
    {
      cadenceSet = 68;
    }

    else if (setting == 0)
    {
      cadenceSet = 72;
    }

    else if (setting == -1)
    {
      cadenceSet = 75;
    }

    else if (setting == -2)
    {
      cadenceSet = 80;
    }

    else if (setting == -3)
    {
      cadenceSet = 90;
    }

    else if (setting == -4)
    {
      cadenceSet = 100;
    }
    multipler = shiftSlope / cadenceSet;

    errorC = (Cadence - prevCadenceSet);

    // calculate offsetP
    if  ((Cadence > (cadenceSet + 10)) && (Cadence < 200))
    {
      offSetP = (multipler  / scalarP);
    }
    else if (Cadence < 38)
    {
      offSetP = 0;
    }
    else {
      offSetP = (sin((errorC) * 0.15)) * (multipler / scalarP);
    }

    // calculate offsetI
    if (Cadence < 38)
    {
      offSetI  = 0;
    }
    else {
      offSetI = constrain ((prevErrorTotal + (errorC  * scalarI)), -1.5, 3); //-1.5, 1.5
    }
    prevErrorTotal = offSetI;
    /*
      // calculate offsetD
      if (Cadence < 38)
         {offSetI  = 0;}
      else {
      offSetD = constrain(((errorC - prevError) * scalarD),-3,15);
                   }
      prevError = errorC;
    */
    offSetC = offSetP  + offSetI; // + offSetD;

    servopos = constrain((ratioOffset + (Wheel *  (multipler + offSetC))), servoLowlimit, servoUpLimit); // calculates servopos, sets  the limits on under/overdrive.
    //multiplier sets the cadence, fixed offset  compensates for difference in ratio profile.
    myservo.write(servopos);

    //CALIBRATE
    /*servovolt = analogRead(servopot);
      servoposError  = servovolt-(((servoposD-2)*2.84)+83);

      Serial.print("E");                //  send values via bluetooth or serial monitor for graphing or logging.
      Serial.print(Power);            // "E" enables an app called Bluetooth Graphics to recognise it as  data.
      Serial.print(", ");
      Serial.print(Cadence);
      Serial.print(",  ");
      Serial.print(Speed);
      Serial.print(", ");
      Serial.print(switchState2);
      Serial.print(", ");
      Serial.print(servoposD);     //cadenceSet
      Serial.print(", ");
      Serial.print(servoposError);   //lipoPercentP
      Serial.print(", ");
      Serial.println(zeroError);
    */

    Serial.print("E");                // send values via bluetooth or serial monitor  for graphing or logging.
    Serial.print(Power);            // "E" enables  an app called Bluetooth Graphics to recognise it as data.
    Serial.print(",  ");
    Serial.print(Cadence);
    Serial.print(", ");
    Serial.print(Speed);
    Serial.print(", ");
    Serial.print(setting);  // lipoPercent
    Serial.print(",  ");
    Serial.print(lipoPercent);    //cadenceSet, servopos, outputTorque
    Serial.print(", ");
    Serial.print(lipoPercentP);
    Serial.print(",  ");
    Serial.println(zeroError);
    //APP
    /*
      Serial.print("  "); //Prevents The operation * cannot accept the arguments: , [*empty-string*],  [-0.24]
      Serial.print(Power);
      Serial.print(",");
      Serial.print(Cadence);
      Serial.print(",");
      Serial.print(Speed);
      Serial.print(",");
      Serial.print(cadenceSet);
      Serial.print(",");
      Serial.print(offSetC);
      Serial.print(",");
      Serial.print(setting);
      Serial.print(",");
      Serial.print(lipoPercent);
      Serial.print(",");
      Serial.print(lipoPercentP);
      Serial.print(",");
      Serial.print(zeroError);
      Serial.print(",");
      Serial.print(inputTorque);
      Serial.print(",");
      Serial.println(outputTorque);  */

    prevCadenceSet = cadenceSet;     //store prev cadence setpoint
    // preServoposD = servoposD;
  }

  else if (Power > 0 && mode == 3)  // Power1 buttons change powerAdd
  {
    // average power 2.5 secs worked  best less results in oscillations, more to much lag
    total = total - readings[index];
    readings[index] = Power;
    total = total + readings[index];
    index  = index + 1;
    if (index >= numReadings)
      index = 0;
    powerAv  = total / numReadings;

    multipler = ((sin(powerAv / powerDiv)) * powerMult)  + (setting + powerAdd);
    cadenceSet = shiftSlope / multipler;

    errorC  = (Cadence - cadenceSet);
    // calculate offsetP
    if ((Cadence > (cadenceSet  + 10)) && (Cadence < 200))
    {
      offSetP = (multipler / 11);
    }
    else if (Cadence < 38)
    {
      offSetP = 0;
    }
    else {
      offSetP = (sin((errorC) * 0.15)) * (multipler / 12);
    }

    //  calculate offsetI
    if (Cadence < 38)
    {
      offSetI = 0;
    }
    else {
      offSetI = constrain ((prevErrorTotal + (errorC * scalarI)),  -1.5, 1.5);
    }
    prevErrorTotal = offSetI;

    offSetC = offSetP  + offSetI; // + offSetD;

    servopos = constrain((ratioOffset + (Wheel *  (multipler + offSetC))), servoLowlimit, servoUpLimit);

    myservo.write(servopos);

    //CALIBRATE
    /*servovolt = analogRead(servopot);
      servoposError  = servovolt-(((servoposD-2)*2.84)+83);

      Serial.print("E");                //  send values via bluetooth or serial monitor for graphing or logging.
      Serial.print(Power);            // "E" enables an app called Bluetooth Graphics to recognise it as  data.
      Serial.print(", ");
      Serial.print(Cadence);
      Serial.print(",  ");
      Serial.print(Speed);
      Serial.print(", ");
      Serial.print(switchState2);
      Serial.print(", ");
      Serial.print(servoposD);     //cadenceSet
      Serial.print(", ");
      Serial.print(servoposError);   //lipoPercentP
      Serial.print(", ");
      Serial.println(zeroError);
    */
    Serial.print("E");
    Serial.print(Power);
    Serial.print(", ");
    Serial.print(Cadence);
    Serial.print(", ");
    Serial.print(Speed);
    Serial.print(", ");
    Serial.print(setting);     // lipoPercent,inputTorque
    Serial.print(",  ");
    Serial.print(lipoPercent);    //cadenceSet, servopos, outputTorque
    Serial.print(", ");
    Serial.print(lipoPercentP);
    Serial.print(",  ");
    Serial.println(zeroError);

    /* //APP
      Serial.print("  "); //Prevents The operation * cannot accept the arguments: , [*empty-string*],  [-0.24]
      Serial.print(Power);
      Serial.print(",");
      Serial.print(Cadence);
      Serial.print(",");
      Serial.print(Speed);
      Serial.print(",");
      Serial.print(cadenceSet);
      Serial.print(",");
      Serial.print(offSetC);
      Serial.print(",");
      Serial.print(setting);
      Serial.print(",");
      Serial.print(lipoPercent);
      Serial.print(",");
      Serial.print(lipoPercentP);
      Serial.print(",");
      Serial.print(zeroError);
      Serial.print(",");
      Serial.print(inputTorque);
      Serial.print(",");
      Serial.println(outputTorque);
    */
  }

  else if (Power > 0 && mode == 4) // Power2 buttons change  powerMult
  {
    // average power
    total = total - readings[index];
    readings[index] = Power;
    total = total + readings[index];
    index  = index + 1;
    if (index >= numReadings)
      index = 0;
    powerAv  = total / numReadings;

    multipler = ((sin(powerAv / powerDiv)) * (setting  + powerMult)) + powerAdd;
    cadenceSet = shiftSlope / multipler;

    errorC  = (Cadence - cadenceSet);
    // calculate offsetP
    if ((Cadence > (cadenceSet  + 10)) && (Cadence < 200))
    {
      offSetP = (multipler / 11);
    }
    else if (Cadence < 38)
    {
      offSetP = 0;
    }
    else {
      offSetP = (sin((errorC) * 0.15)) * (multipler / 12);
    }

    //  calculate offsetI
    if (Cadence < 38)
    {
      offSetI = 0;
    }
    else {
      offSetI = constrain ((prevErrorTotal + (errorC * scalarI)),  -1.5, 1.5);
    }
    prevErrorTotal = offSetI;

    offSetC = offSetP  + offSetI; // + offSetD;

    servopos = constrain((ratioOffset + (Wheel *  (multipler + offSetC))), servoLowlimit, servoUpLimit);

    myservo.write(servopos);

    Serial.print("E");
    Serial.print(Power);
    Serial.print(", ");
    Serial.print(Cadence);
    Serial.print(", ");
    Serial.print(Speed);
    Serial.print(", ");
    Serial.print(setting);     // lipoPercent,inputTorque
    Serial.print(", ");
    Serial.print(lipoPercent);    //cadenceSet, servopos,  outputTorque
    Serial.print(", ");
    Serial.print(lipoPercentP);
    Serial.print(", ");
    Serial.println(zeroError);
    /*
      Serial.print("E");
      Serial.print(Power);
      Serial.print(", ");
      Serial.print(Cadence);
      Serial.print(", ");
      Serial.print(Speed);
      Serial.print(",  ");
      Serial.print(setting);     //lipoPercent
      Serial.print(",  ");
      Serial.print(cadenceSet);     //servopos
      Serial.print(",  ");
      Serial.print(offSetC);   //lipoPercentP
      Serial.print(",  ");
      Serial.println(zeroError);

      //APP
      Serial.print("  "); //Prevents The operation * cannot accept the arguments: , [*empty-string*],  [-0.24]
      Serial.print(Power);
      Serial.print(",");
      Serial.print(Cadence);
      Serial.print(",");
      Serial.print(Speed);
      Serial.print(",");
      Serial.print(cadenceSet);
      Serial.print(",");
      Serial.print(offSetC);
      Serial.print(",");
      Serial.print(setting);
      Serial.print(",");
      Serial.print(lipoPercent);
      Serial.print(",");
      Serial.print(lipoPercentP);
      Serial.print(",");
      Serial.print(zeroError);
      Serial.print(",");
      Serial.print(inputTorque);
      Serial.print(",");
      Serial.println(outputTorque);
    */
  }
}

Downloadable files

Auto Shifter Spreadsheet

Calculate values for code using spreadsheet

Auto Shifter Spreadsheet

Calculate values for code using spreadsheet

Auto Shifter Spreadsheet

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