One pedal drive #262
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One pedal drive #262
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…nd buffer zone for coasting
Bafran
reviewed
Mar 11, 2024
| @@ -48,20 +51,44 @@ static float prv_get_float(uint32_t u) { | |||
| return fu.f; | |||
| } | |||
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| static float prv_one_pedal_drive_current(float throttle_percent, float car_velocity, | |||
| DriveState *drive_state) { | |||
| float threshold = car_velocity <= MAX_OPD_SPEED ? car_velocity * COASTING_THERSHOLD_SCALE | |||
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nitpick, I think these should be if statements instead of ternary
| case NEUTRAL: | ||
| s_target_current = 0; | ||
| case BRAKE: // When braking and regen is off it should be the same as NEUTRAL. regen = 0 | ||
| s_target_current = regen < 100 ? regen / 100.0 : throttle_percent; |
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same thing with ternary here
| @@ -130,9 +156,11 @@ static void motor_controller_rx_all() { | |||
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| case MOTOR_CONTROLLER_BASE_L + VEL_MEASUREMENT: | |||
| set_motor_velocity_velocity_l(prv_get_float(msg.data_u32[0]) * VELOCITY_SCALE); | |||
| s_car_velocity_l = prv_get_float(msg.data_u32[1]) * CONVERT_VELOCITY_TO_KPH; | |||
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I know this file used this msg struct already but could you link to the doc where the uint32's value is defined? The link up top is dead
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| DriveState drive_state = get_drive_output_drive_state(); | ||
| bool regen = get_drive_output_regen_braking(); | ||
| uint8_t regen = get_drive_output_regen_braking(); |
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A comment about what this value is would be useful
Bafran
approved these changes
Mar 12, 2024
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