Reading Battery Voltages with Averaging

#include <Wire.h> //Needed to Use ADS1115 ADC - See Reference 12
#include <ADS1115_lite.h> //Needed to Use ADS1115 ADC - See Reference 12
ADS1115_lite ads(ADS1115_DEFAULT_ADDRESS); //0x48 addr pin connected to GND. Needed to Use ADS1115 ADC - See Reference 12
long raw1 = 0, raw2 = 0; //Needed to Use ADS1115 ADC - See Reference 12
double resolution=0; //Needed to Use ADS1115 ADC - See Reference 12
int batt1Analog = 0, batt2Analog=0; //Analog readings from batt1Pin and batt2Pin and then actual battery voltages
float batt1V=0, batt2V=0;
unsigned long previousMillis = 0;      // will store last time the battery voltages were read
const long interval = 10000;           // interval at which to read the battery voltage (milliseconds)
#define battCutOff 3.0 //Voltage to Cutoff Motors to Protect the Batteries
#define numReadsToAvg 3 //Number of Voltage Readings to Store and Take Average Of
float batt1VArray[numReadsToAvg]; //Array to store batt1V readings i.e. battery 1 voltages
float batt2VArray[numReadsToAvg]; //Array to store batt2V readings i.e. battery 2 voltages
int batt1VIndex = 0, batt2VIndex = 0; //Keeps track of the array indexes for the batt1VArray and batt2VArray
float batt1VAvg = 3.0, batt2VAvg = 3.0; //Initialize battery voltage reading averages to 3.0
float batt1VSum = 0.0, batt2VSum = 0.0; //Sums all the elements in the batt1VArray and the batt2VArray for use in the average calculations
int batt1VCount = 0, batt2VCount = 0; //Variable to keep track of the count of how many elements have been stored in the batt1VArray and batt2VArray - really only meant to be used initially before all elements of the arrays have been updated with non-zero values

void setup()
{ //start of void setup()
  ads_config(); //Needed to Use ADS1115 ADC - See Reference 12
} //end of void setup()

void loop()
{ //start of void loop()

unsigned long currentMillis = millis(); //Checks the current time

    if (currentMillis - previousMillis >= interval) //Check to see if it's time to read the battery voltages (if the difference between the current time and last time you read the battery voltages is bigger than the interval at which you want to read the battery voltages)
    { //Start of if (currentMillis - previousMillis >= interval)
        previousMillis = currentMillis; //save the last time you read the battery voltages before you read the battery voltages
        readBatts(); //Read the battery voltages
    } //End of if (currentMillis - previousMillis >= interval)

} //end of void loop()

void readBatts()
{ //Start of readBatts function definition
  raw1 = ads_read1(); //Reads A0 from ADS1115 - Reference 12
  resolution=4096.00/32752.00;
  delay(200);
  float result1=(raw1*resolution)/1000.00; //batt1 voltage + batt2 voltage
  raw2 = ads_read2(); //Reads A0 from ADS1115 - Reference 12
  delay(200);
  float result2=(raw2*resolution)/1000.00; //batt2 voltage alone
  batt1V = result1 - result2; //Assigns battery 1 voltage alone to batt1V variable
  batt1V = 11.03*batt1V;
  batt2V = result2; //Assigns result2 to the batt2V variable
  batt2V = 11.0*batt2V;

  batt1VArray[batt1VIndex] = batt1V; //Store the current batt1V value into the element of the batt1VArray that matches batt1VIndex
  batt2VArray[batt2VIndex] = batt2V; //Store the current batt2V value into the element of the batt2VArray that matches batt2VIndex
  batt1VIndex = (batt1VIndex + 1) % numReadsToAvg; //Increments batt1VIndex by 1 each time this line runs and the % numReadsToAvg means that the batt1VIndex will take on values from 0 up to but not including numReadsToAvg (i.e. 0, 1, 2, 0, 1, 2, etc. if numReadsToAvg = 3)
  batt2VIndex = (batt2VIndex + 1) % numReadsToAvg; //Increments batt2VIndex by 1 each time this line runs and the % numReadsToAvg means that the batt2VIndex will take on values from 0 up to but not including numReadsToAvg (i.e. 0, 1, 2, 0, 1, 2, etc. if numReadsToAvg = 3)

  //Perform the average calculation with non-zero elements of the batt1VArray and batt2VArray
  for(int i=0; i<numReadsToAvg; i++)
  { //Start of for loop to step through the elements in the batt1VArray
      if(batt1VArray[i] != 0.0) //If the current value is non-zero
      { //Start of if statement to check if the current element of the batt1VArray is non-zero
          batt1VSum += batt1VArray[i]; //Add the current value to the running sum for the average calculation
          batt1VCount++; //Increment the counter to keep track of the current number of non-zero elements in the sum
      } //End of if statement to check if the current element of the batt1VArray is non-zero
  } //end of for loop to step through the elements in the batt1VArray

  if (batt1VCount > 0 && batt1VCount < numReadsToAvg)
  {
      batt1VAvg = batt1VSum / batt1VCount; //Calculates the average
  }
  //Without the following two lines of code batt1VSum and batt1VCount could increase without limit (as much as those variable types can hold) retaining impact from values beyond the current set of stored readings in the array and therefore wouldn't react to newer voltage readings after a while
  batt1VSum = 0.0; //After the sum is used in the calculation of the current batt1VAvg set it back to its initial value so that it isn't impacted by past readings. The sum is meant to be used for the current set of numReadsToAvg
  batt1VCount = 0; //After the count is used in the calculation of the current batt1VAvg set it back to its initial value so that it isn't impacted by past readings.  The count is meant to be used for the current set of numReadsToAvg

  for(int j=0; j<numReadsToAvg; j++)
  { //Start of for loop to step through the elements in the batt2VArray
      if(batt2VArray[j] != 0.0) //If the current value is non-zero
      { //Start of if statement to check if the current element of the batt2VArray is non-zero
          batt2VSum += batt2VArray[j]; //Add the current value to the running sum for the average calculation
          batt2VCount++; //Increment the counter to keep track of the current number of non-zero elements in the sum
      } //End of if statement to check if the current element of the batt2VArray is non-zero
  } //end of for loop to step through the elements in the batt2VArray

  if (batt2VCount > 0 && batt2VCount < numReadsToAvg)
  {
      batt2VAvg = batt2VSum / batt2VCount; //Calculates the average
  }
  //Without the following two lines of code batt2VSum and batt2VCount could increase without limit (as much as those variable types can hold) retaining impact from values beyond the current set of stored readings in the array and therefore wouldn't react to newer voltage readings after a while
  batt2VSum = 0.0; //After the sum is used in the calculation of the current batt2VAvg set it back to its initial value so that it isn't impacted by past readings. The sum is meant to be used for the current set of numReadsToAvg
  batt2VCount = 0; //After the count is used in the calculation of the current batt2VAvg set it back to its initial value so that it isn't impacted by past readings.  The count is meant to be used for the current set of numReadsToAvg

  //This section of code sends the battery voltages to the Android app
  SerialBT.print("|");  //Delimeter separating values which the receiving app is programmed to recognize
  SerialBT.print("W");  //Delimeter separating values which the receiving app is programmed to recognize
  SerialBT.print("|");  //Delimeter separating values which the receiving app is programmed to recognize
  //SerialBT.print(batt1V);
  SerialBT.print(batt1VAvg);
  SerialBT.print("|");  //Delimeter separating values which the receiving app is programmed to recognize
  SerialBT.print("w");  //Delimeter separating values which the receiving app is programmed to recognize

  SerialBT.print("|");  //Delimeter separating values which the receiving app is programmed to recognize
  SerialBT.print("Z");  //Delimeter separating values which the receiving app is programmed to recognize
  SerialBT.print("|");  //Delimeter separating values which the receiving app is programmed to recognize
  //SerialBT.print(batt2V);
  SerialBT.print(batt2VAvg);
  SerialBT.print("|");  //Delimeter separating values which the receiving app is programmed to recognize
  SerialBT.print("z");  //Delimeter separating values which the receiving app is programmed to recognize

  //if (batt1V < battCutOff || batt2V < battCutOff) //If either battery drops below the cutoff voltage
  if (batt1VAvg < battCutOff || batt2VAvg < battCutOff) //If either battery drops below the cutoff voltage
  { //Start of if (batt1V < battCutOff || batt2V < battCutOff)
    stopVehicle(); //Stop Power to the Motors
    lightFState = 0; //Turns Off Front Lights
    lightBState = 0; //Turns Off Back Lights
    hornH(); //Turns horn on briefly
    delay(100);
    hornL();
   } //End of if (batt1V < battCutOff || batt2V < battCutOff)

} //End of readBatts function definition

void ads_config(){
  ads.setGain(ADS1115_REG_CONFIG_PGA_4_096V); // GAIN_ONE and resolution to ± 4.096V
  ads.setSampleRate(ADS1115_REG_CONFIG_DR_8SPS); // Set to the fastest MODE 860Samples per sec
}

int16_t ads_read1(){
  ads.setMux(ADS1115_REG_CONFIG_MUX_SINGLE_0);  // Single mode input on AIN0 (AIN0 - GND)
  ads.triggerConversion();  // Triggered mannually
  return ads.getConversion();  // returns int16_t value
}

int16_t ads_read2(){
  ads.setMux(ADS1115_REG_CONFIG_MUX_SINGLE_1);  // Single mode input on AIN1 (AIN1 - GND)
  ads.triggerConversion();  // Triggered mannually
  return ads.getConversion();  // returns int16_t value
}
//Reference 12- Reading Analog Voltages Using ADS1115 https://www.youtube.com/watch?v=u-1TRpLGH04