StrokeEngine: fix: drive StrokeEngine by speed

[Ptibibi]

use speed on main consigne to reduce injuries risk.
speed is more stable when stroke, depth and sensation are updated.

[Ptibibi]

I noticed an increase in speed if the stroke setpoint is higher than the depth setpoint.
This behavior is not new, just highlighted by the fix.
I'll investigate.

workaround - https://github.com/Ptibibi/OSSM-hardware/tree/ptibibi/workaround_api_override_stroke_if_bigger_than_depth

[armpitMFG]

Suggested change

	float speedConsignePercent = ossm->setting.speed;
	ESP_LOGD("UTILS", "speedConsignePercent: %f%", speedConsignePercent);
	ESP_LOGD("UTILS", "maxSpeedMmPerSecond: %fmm/s", Config::Driver::maxSpeedMmPerSecond);
	float speedMmPerSecond = (Config::Driver::maxSpeedMmPerSecond * speedConsignePercent) / 100.0F;
	ESP_LOGD("UTILS", "speedMmPerSecond: %fmm/s", speedMmPerSecond);
	float strokeMm = Stroker.getStroke();
	ESP_LOGD("UTILS", "strokeMm: %fmm", strokeMm);
	float depthMm = Stroker.getDepth();
	ESP_LOGD("UTILS", "depthMm: %fmm", depthMm);
	float travelMm = min(abs(strokeMm), abs(depthMm));
	ESP_LOGD("UTILS", "travelMm: %fmm", travelMm);
	float tripMm = travelMm * 2.0F;
	ESP_LOGD("UTILS", "tripMm: %fmm", tripMm);
	float tripPerSecond = speedMmPerSecond / tripMm;
	ESP_LOGD("UTILS", "tripPerSecond: %ftrip/s", tripPerSecond);
	float tripPerMinute = tripPerSecond * 60.0F;
	ESP_LOGD("UTILS", "tripPerMinute: %ftrip/min", tripPerMinute);
	float newSpeedMmPerSecond = tripPerMinute * tripMm / 60.0F;
	ESP_LOGD("UTILS", "newSpeedMmPerSecond: %fmm/s", newSpeedMmPerSecond);
	Stroker.setSpeed(tripPerMinute, true);
	float tripPerMinute = 0.0F;
	#ifdef DEBUG_TALKATIVE
	float speedConsignePercent = ossm->setting.speed;
	ESP_LOGD("UTILS", "speedConsignePercent: %f%", speedConsignePercent);
	ESP_LOGD("UTILS", "maxSpeedMmPerSecond: %fmm/s", Config::Driver::maxSpeedMmPerSecond);
	float speedMmPerSecond = (Config::Driver::maxSpeedMmPerSecond * speedConsignePercent) / 100.0F;
	ESP_LOGD("UTILS", "speedMmPerSecond: %fmm/s", speedMmPerSecond);
	float strokeMm = Stroker.getStroke();
	ESP_LOGD("UTILS", "strokeMm: %fmm", strokeMm);
	float depthMm = Stroker.getDepth();
	ESP_LOGD("UTILS", "depthMm: %fmm", depthMm);
	float travelMm = min(abs(strokeMm), abs(depthMm));
	ESP_LOGD("UTILS", "travelMm: %fmm", travelMm);
	float tripMm = travelMm * 2.0F;
	ESP_LOGD("UTILS", "tripMm: %fmm", tripMm);
	float tripPerSecond = speedMmPerSecond / tripMm;
	ESP_LOGD("UTILS", "tripPerSecond: %ftrip/s", tripPerSecond);
	tripPerMinute = tripPerSecond * 60.0F;
	ESP_LOGD("UTILS", "tripPerMinute: %ftrip/min", tripPerMinute);
	float newSpeedMmPerSecond = tripPerMinute * tripMm / 60.0F;
	ESP_LOGD("UTILS", "newSpeedMmPerSecond: %fmm/s", newSpeedMmPerSecond);
	#endif
	tripPerMinute = ((Config::Driver::maxSpeedMmPerSecond * ossm->setting.speed / 100.0F) / (min(abs(Stroker.getStroke()), abs(Stroker.getDepth())) * 2.0F)) * 60.0F;
	Stroker.setSpeed(tripPerMinute, true);

Suggestion: Reduce memory footprint of calculations and cpu footprint of debug logging unless in debug mode.

Code suggestion is not an implied approval.
Will bench test this functionality later this week.

[Ptibibi]

@armpitMFG , suggestion applied and checked with my setup.
Thank for your review.
I'll keep the footprint in mind for the future.
It's been a long time since I did any dev on mcu.

[Ptibibi]

@armpitMFG, I've adjusting your proposition to group some values

[Ptibibi]

@AJ-Koenig, @armpitMFG
I close this proposition because I show some little side effect and integration is more like a workaround.
I will propose a better fix soon