Regen Pedal Remap and Hysteresis Derate #1351
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philam2001
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| static RegenBraking_Inputs regenAttributes = { .enable_active_differential = true }; | ||
| static ActiveDifferential_Inputs activeDifferentialInputs; | ||
| static PowerLimiting_Inputs powerLimitingInputs = { .power_limit_kW = POWER_LIMIT_REGEN_kW }; | ||
| static bool regen_enabled = true; |
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why is this a static variable? can we just have a function which determines it? I worry about stale information
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initialized once at the beginning and persists between calls until we change it wheelSpeedInRange. I think you would want this to make sure you have the last condition the car state was in for hysterisis? what stale info do u mean
| @@ -76,11 +80,22 @@ bool app_regen_safetyCheck(RegenBraking_Inputs *regenAttr, ActiveDifferential_In | |||
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| static bool wheelSpeedInRange(ActiveDifferential_Inputs *inputs) | |||
| { | |||
| // Hysterisis | |||
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this this hysterisis or does it just cut it off < 7kph?
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it'll cut off at 5kph if you were regening before and then start back up again after 7kph
| // no power limit, no active differential | ||
| regenAttr->left_inverter_torque_Nm = MAX_REGEN_Nm * pedal_percentage * regenAttr->derating_value; | ||
| regenAttr->right_inverter_torque_Nm = MAX_REGEN_Nm * pedal_percentage * regenAttr->derating_value; | ||
| return apps_pedal_percentage / (MAX_PEDAL_PERCENT - PEDAL_SCALE - 0.1f); |
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i don't think this is right, I think you need to
| return apps_pedal_percentage / (MAX_PEDAL_PERCENT - PEDAL_SCALE - 0.1f); | |
| return (apps_pedal_percentage-0.1f) / (MAX_PEDAL_PERCENT - PEDAL_SCALE - 0.1f); |
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because this assumes that the increasing part of the graph is rooted at the origin
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oh nice catch oops
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fak i should write tests for this
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Testing Done
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FIRM-156