Launch control refactor (up to date with competition VCU code) #22
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This reverts commit 4ed266b.
sebLopezCot
commented
Sep 7, 2018
| @@ -14,6 +14,15 @@ | |||
| #define MAX_ACCEL_VAL 1000 | |||
| #define MIN_ACCEL_VAL 0 | |||
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| // Launch control contants | |||
| #define LC_cGR 347 // Gear ratio times 100 | ||
| #define LC_ACCEL_BEGIN 950 // 95% | ||
| #define LC_ACCEL_RELEASE 50 // 5% | ||
| #define LC_BRAKE_BEGIN 100 // We want a lower threshold |
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Do we still want this comment?
src/vcu/src/can_handles.c
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| unpack_can0_DashRequestLC(msg, &unpacked_msg); | ||
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| if (unpacked_msg.launch_ctrl_slip_ratio != 65535) { |
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What is 65535? Should this really go in the Dash Request handler?
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-1 is the convention for "hey vcu use your default value". Should've been -1 cast to the correct type.
src/vcu/src/controls.c
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| else { | ||
| // Only use limits when we're not doing regen | ||
| } else { // Only use limits and launch control when we're not doing regen | ||
| // Even if we are doing launch control, calculate limits for loggind also so that we are not doing |
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spelling error "loggind"
| } else { // Only use limits and launch control when we're not doing regen | ||
| // Even if we are doing launch control, calculate limits for loggind also so that we are not doing | ||
| // launch control when we're supposed to be limiting | ||
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| int32_t voltage_limited_torque = get_voltage_limited_torque(torque_command); | ||
| // static uint32_t last_vt = 0; | ||
| // if (HAL_GetTick() - last_vt > 10) { |
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Just remove this commented timer code.
| position: 0 | ||
| length: 1 | ||
| c_type: bool | ||
| launch_ctrl_slip_ratio: # Ranges from 105 to 115 |
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Why does it range from 105 to 115?
| @@ -22,6 +28,9 @@ void init_controls_defaults(void) { | |||
| control_settings.volt_lim_min_gain = 0; | |||
| control_settings.volt_lim_min_voltage = 300; | |||
| control_settings.torque_temp_limited = false; | |||
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| lc_settings.using_launch_ctrl = false; | |||
| lc_settings.slip_ratio = 112; | |||
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Might want to bring 112 out to a DEFAULT_SLIP_RATIO constant
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Closed to avoid confusion. Please move all review comments to #23 . |
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