acceleration is steps of 1% travel

Northeastern-Electric-Racing · Jul 26, 2024 · 8e40340 · 8e40340
1 parent 26cddc4
commit 8e40340
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Showing 2 changed files with 10 additions and 6 deletions.
diff --git a/Core/Src/monitor.c b/Core/Src/monitor.c
@@ -248,7 +248,7 @@ void vPedalsMonitor(void* pv_params)
 		uint16_t brake2_adj = adjust_pedal_val(adc_data[BRAKEPIN_2], BRAKE2_OFFSET, BRAKE2_MAX_VAL);
 
 		/* Low Pass Filter */
-		sensor_data.accelerator_value = (sensor_data.accelerator_value + (accel_val)) / num_samples;
+		sensor_data.accelerator_value = (sensor_data.accelerator_value + (accel_val)) / 2;
 		sensor_data.brake_value = (sensor_data.brake_value + (brake1_adj + brake2_adj) / 2) / num_samples;
 
 		/* Publish to Onboard Pedals Queue */

diff --git a/Core/Src/torque.c b/Core/Src/torque.c
@@ -137,10 +137,9 @@ void handle_endurance(dti_t* mc, float mph, float accel_val, float brake_val, in
 		}
 	#else
 		// percent of accel pedal to be used for regen
-		static const float regen_thresh = 0.2;
-		static const float accel_thresh = 0.25;
+		static const float regen_thresh = 0.01;
+		static const float accel_thresh = 0.05;
 		// static const float mph_to_kmh = 1.609;
-		// serial_print("%i\n", (int) (accel_val < regen_thresh));
 		// if the rescaled accel is positive then convert it to torque, and full send
 		if (accel_val >= accel_thresh) {
 			/* Coefficient to map accel pedal travel % to the max torque */
@@ -149,7 +148,8 @@ void handle_endurance(dti_t* mc, float mph, float accel_val, float brake_val, in
 			*torque = coeff * accel_val - (accel_val * accel_thresh);
 			dti_set_regen(0);
 		}
-		else if (accel_val < regen_thresh) {
+		else if (//mph * mph_to_kmh > 5 && 
+		accel_val < regen_thresh) {
 
 			float regen_current = (max_curr / regen_thresh) * (regen_thresh - accel_val);
 
@@ -162,6 +162,10 @@ void handle_endurance(dti_t* mc, float mph, float accel_val, float brake_val, in
 			*torque = 0;
 			dti_set_regen(0);
 		}
+
+		if (*torque > MAX_TORQUE) {
+			*torque = MAX_TORQUE;
+		}
 
 	#endif
 }
@@ -182,7 +186,7 @@ void vCalcTorque(void* pv_params)
 	for (;;) {
 		stat = osMessageQueueGet(pedal_data_queue, &pedal_data, 0U, delay_time);
 
-		float accelerator_value = (float) pedal_data.accelerator_value  / 10.0; // 0 to 1
+		float accelerator_value = (float) pedal_data.accelerator_value  / 100.0; // 0 to 1
 		float brake_value = (float) pedal_data.brake_value * 10.0; // ACTUAL PSI
 
 		/* If we receive a new message within the time frame, calc new torque */