Launch Control Palmer #23

nistath · 2018-09-08T19:01:32Z

This pull request updates the VCU code to include launch control for testing at palmer on Sunday Sept. 9.

This reverts commit 4ed266b.

… file formats

sebLopezCot

Some stylistic things

sebLopezCot · 2018-09-08T19:11:05Z

src/vcu/inc/controls.h

@@ -14,6 +14,15 @@
 #define MAX_ACCEL_VAL 1000
 #define MIN_ACCEL_VAL 0

+// Launch control contants


Spelling error

sebLopezCot · 2018-09-08T19:11:20Z

src/vcu/inc/controls.h

+#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


Do we still want this comment?

Sorry, this comment was to indicate that we want lower threshold than normal. I can fix it to make it clearer

sebLopezCot · 2018-09-08T19:12:05Z

src/vcu/src/controls.c

+  } 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
+
    int32_t voltage_limited_torque = get_voltage_limited_torque(torque_command);
    // static uint32_t last_vt = 0;
    // if (HAL_GetTick() - last_vt > 10) {


Just remove this commented code

And also there is a typo here "loggind"

sebLopezCot · 2018-09-08T19:12:46Z

src/vcu/src/controls.c

@@ -90,13 +103,14 @@ void execute_controls(void) {
    // }


Same here: remove commented code

src/vcu/src/controls.c

sebLopezCot · 2018-09-08T19:13:57Z

can_spec_my18.yml

+            position: 0
+            length: 1
+            c_type: bool
+          launch_ctrl_slip_ratio: # Ranges from 105 to 115


Why does it range between these values? Will this ever change?

I talk about this is confluence docs. This number was something that Luis suggested but could use some more backing.

Yeah, might be good to at least show how you might come up with this on confluence.

sebLopezCot · 2018-09-08T19:14:39Z

src/vcu/src/controls.c

@@ -22,12 +28,16 @@ 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;
+
+  lc_settings.using_launch_ctrl = false;
+  lc_settings.slip_ratio = 112;


Would recommend bringing 112 out to a DEFAULT_SLIP_RATIO constant

src/vcu/src/controls.c

sebLopezCot · 2018-09-08T20:08:42Z

src/vcu/src/controls.c

+  if (pedalbox_min(accel) < LC_ACCEL_BEGIN) {
+    printf("[LAUNCH CONTROL ERROR] Accel min (%d) too low\r\n", pedalbox_min(accel));
+    return true;
+  } else if (pedalbox.brake_2 > LC_BRAKE_BEGIN) {


Why only brake_2? Don't we want the max of the 2 brakes?

I have learned the reason, but would still like a comment here explaining why we only need to check brake 2

I actually don't remember the reason myself...should definitely go in a comment

sebLopezCot · 2018-09-08T20:11:03Z

src/vcu/src/controls.c

+    return false;
+}
+
+void set_lc_state_before() {


Is this function ever used? Can we delete it?

src/vcu/src/controls.c

sebLopezCot · 2018-09-08T20:14:18Z

src/vcu/src/controls.c

+          }
+          break;
+        case SPEEDING_UP:
+          if (torque_command < 1000) sendSpeedCmdMsg(500, torque_command);


In confluence, we have "LC_SPEEDING_UP_TORQUE", but here it is not a constant. Can we fix this?

Also can we make 300 and 500 some sort of constants too and add them to the documentation in confluence?

Also technically the if statement here with < 1000 should probably be reflected in the state machine somehow. I think you intended to back off on the torque command if we start to exceed 1000, right?

Oh yeah I realized I had made it a constant and forgot to push it. I'll fix the others

And yeah my intention we to command max(commanded torque, 1000)

sebLopezCot · 2018-09-08T20:43:37Z

Hey Dani, I think in terms of state machine logic, this looks good. Nick and I both went through the diagrams in confluence and it seems to match. Some stylistic things are in order. Also make sure to pull our changes before resolving issues. Also, nice work on the diagrams! Super easy to read.

In response to review

src/vcu/src/can_handles.c

nistath · 2018-09-26T03:59:19Z

This PR has been open for too long, @daniwhite .

daniwhite and others added 7 commits September 5, 2018 09:19

Revert "Remove launch control"

bd4b68d

This reverts commit 4ed266b.

Merge branch 'roman' into launch-control

e888b20

Fix compilation errors

ffca885

Removing annoyance with pngs tricking git to notice changes for wrong…

db2936f

… file formats

Merge branch 'roman' into launch-control

4fd30ad

Bug fixes

17ab695

Merge branch 'roman' into launch-control

63c28ad

nistath requested review from daniwhite and sebLopezCot September 8, 2018 19:01

nistath assigned nistath and daniwhite and unassigned nistath Sep 8, 2018

nistath mentioned this pull request Sep 8, 2018

Launch control refactor (up to date with competition VCU code) #22

Closed

sebLopezCot reviewed Sep 8, 2018

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sebLopezCot requested changes Sep 8, 2018

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Fixing constants, unused function, and comments

69bf3ff

daniwhite added 5 commits September 8, 2018 18:50

Pull out constants, other style fixes

0554ab5

In response to review

Move fault checks outside switch statement

e037a98

Update launch control dash page

f302216

Fix launch control page

4a4fa97

Use dash values properly

73f6043

sebLopezCot approved these changes Sep 9, 2018

View reviewed changes

sebLopezCot requested changes Sep 9, 2018

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src/vcu/src/can_handles.c Show resolved Hide resolved

daniwhite added 3 commits September 12, 2018 01:23

Remove first speed commands, up allowed slip ratio

5e853b2

Up brake threshold

528d33b

Constant speed, no backwards check

903e520

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Launch Control Palmer #23

Launch Control Palmer #23

nistath commented Sep 8, 2018 •

edited by sebLopezCot

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nistath commented Sep 26, 2018

Launch Control Palmer #23

Are you sure you want to change the base?

Launch Control Palmer #23

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