From 0e6de1636b7abf83ca11d96f2b262e29d7ea2a94 Mon Sep 17 00:00:00 2001
From: Jaap van Ekris <82339657+JaapvanEkris@users.noreply.github.com>
Date: Tue, 9 Jan 2024 21:11:13 +0100
Subject: [PATCH] Improvement of flywheel velocity and acceleration algorithm

Improvement of the algorithm used for the flywheel speed and acceleration, which makes it less errorprone  and more smooth.
---
 app/engine/Flywheel.js | 18 ++++++++++--------
 1 file changed, 10 insertions(+), 8 deletions(-)

diff --git a/app/engine/Flywheel.js b/app/engine/Flywheel.js
index a6ea8dba07..5eaab18d20 100644
--- a/app/engine/Flywheel.js
+++ b/app/engine/Flywheel.js
@@ -22,9 +22,10 @@
 
 import loglevel from 'loglevel'
 import { createStreamFilter } from './utils/StreamFilter.js'
-import { createLabelledBinarySearchTree } from './utils/BinarySearchTree.js'
 import { createOLSLinearSeries } from './utils/OLSLinearSeries.js'
 import { createTSQuadraticSeries } from './utils/FullTSQuadraticSeries.js'
+import { createWeighedSeries } from './utils/WeighedSeries.js'
+
 const log = loglevel.getLogger('RowingEngine')
 
 function createFlywheel (rowerSettings) {
@@ -116,19 +117,20 @@ function createFlywheel (rowerSettings) {
     }
 
     // Let's make room for a new set of values for angular velocity and acceleration
-    _angularVelocityMatrix[_angularVelocityMatrix.length] = createLabelledBinarySearchTree()
-    _angularAccelerationMatrix[_angularAccelerationMatrix.length] = createLabelledBinarySearchTree()
+    _angularVelocityMatrix[_angularVelocityMatrix.length] = createWeighedSeries()
+    _angularAccelerationMatrix[_angularAccelerationMatrix.length] = createWeighedSeries()
 
     let i = 0
+    const goodnessOfFit = _angularDistance.goodnessOfFit()
+
     while (i < _angularVelocityMatrix.length) {
-      // Please note, the label used in the Binary Search Tree has no meaning, as we will not do any targetted remove actions
-      _angularVelocityMatrix[i].push(i, _angularDistance.firstDerivativeAtPosition(i))
-      _angularAccelerationMatrix[i].push(i, _angularDistance.secondDerivativeAtPosition(i))
+      _angularVelocityMatrix[i].push(_angularDistance.firstDerivativeAtPosition(i), goodnessOfFit)
+      _angularAccelerationMatrix[i].push(_angularDistance.secondDerivativeAtPosition(i), goodnessOfFit)
       i++
     }
 
-    _angularVelocityAtBeginFlank = _angularVelocityMatrix[0].median()
-    _angularAccelerationAtBeginFlank = _angularAccelerationMatrix[0].median()
+    _angularVelocityAtBeginFlank = _angularVelocityMatrix[0].weighedAverage()
+    _angularAccelerationAtBeginFlank = _angularAccelerationMatrix[0].weighedAverage()
 
     // And finally calculate the torque
     _torqueAtBeginFlank = (rowerSettings.flywheelInertia * _angularAccelerationAtBeginFlank + drag.clean() * Math.pow(_angularVelocityAtBeginFlank, 2))