Comment mesurer la vitesse d’un actionneur linéaire rapide ? Partie 2

#define   PWM_PIN         3
#define   NUM_MEAN        16
#define   ADC_SEUIL       1450.0
#define   VITESSE_TR_MIN  95.0
#define   STEP_PWM        0.5 
#define   PWM_MIN         250.0
#define   PWM_MAX         250.0
#define   DELAY_uS        100000
const     unsigned long   NUM_MEAN_DC=4096; 

unsigned long T0, T; 
unsigned long count_iter=0;  
double T_s;
double F_s=0.0;

static byte pwm_i=PWM_MIN;
double      pwm_f=PWM_MIN;
double      adc_mv=0.0, adc_mv_diff=0.0;
double      somme=0.0;
bool        res_status=false; 
double      vitesse=0.0; 

unsigned long T_0_pwm;



double mean_dc=0.0, somme_dc=0.0;
unsigned long count_dc=0; 

void setup() {
  //Interface série (tests)
  Serial.begin(115200);

  //PWM
  pinMode(PWM_PIN, OUTPUT);
  analogWrite(PWM_PIN, PWM_MIN);

  //Init
  T0=micros();
  T_0_pwm=micros();
}

void loop() {
  //1. Filtrage 
  for(int i=0;i<NUM_MEAN;i  )
    somme =(double)analogRead(A0);
  adc_mv=somme/(double)NUM_MEAN; 
  adc_mv=1000.0*adc_mv*5.0/1023.0;
  somme=0.0; 
  
  //2. Seuillage 
  res_status= adc_mv_diff>0.0; 
  //res_status= adc_mv>ADC_SEUIL;
  //Serial.println(String(ADC_SEUIL*res_status) " ," String(adc_mv)); return; 
  
  //3. Mesure de la vitesse 
  if(res_status!=0) count_iter  ;
  else{
    if(count_iter!=0){
      T=micros(); 
      T_s=1.0E-6*((double)T-(double)T0)*(double)count_iter;
      if(T_s!=0.0){
        F_s=1.0/(2.0*T_s);
        vitesse=60.0*F_s;
        Serial.println("Vitesse(Tr/Min)=" String(vitesse));  
      }
    }
    count_iter=0; 
  }

  //Composante DC
  if(count_dc >=NUM_MEAN_DC){
    mean_dc=somme_dc/((double)NUM_MEAN_DC);
    count_dc=0;
    somme_dc=0.0;
  }else{
    count_dc  ;
    somme_dc =adc_mv; 
  }
  adc_mv_diff=adc_mv-mean_dc; 
  //Serial.println(String(adc_mv) " ," String(mean_dc) " ," String(adc_mv_diff));
  //Serial.println(adc_mv_diff);
  //Serial.println(String(adc_mv_diff) " ," String(250.0*res_status));
  
  //Init T0
  T0=micros();
}