Launch control + Internal speed controller #31
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| length: 32 | ||
| c_type: int32_t | ||
| VCUSpeedCntrlMinInputValue: | ||
| can_id: 0x231 |
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| // PUBLIC STRUCTS | ||
| typedef struct { | ||
| int32_t kp_times_1000; |
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Small thing but this indentation is annoying
| int32_t max_output_value; | ||
| int32_t min_input_value; | ||
| int32_t max_input_value; | ||
| int32_t dt; |
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Maybe should be unsigned
| } SpeedControllerInternalVars; | ||
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| // PUBLIC FUNCTIONS | ||
| void init_speed_controller_defaults(int32_t max_input_speed, |
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Another annoying indentation inconsistency
src/vcu/src/controls.c
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| int32_t speedControlTorqueOutput = get_speed_controller_torque_command(); | ||
| if (speedControlTorqueOutput >= MAX_TORQUE) { | ||
| speedControlTorqueOutput = MAX_TORQUE; |
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This isn't correct - you need to compare it with what the driver is commanding (which is torque_command).
src/vcu/src/controls.c
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| speed_command = 500; // get_launch_control_speed(front_wheel_speed); | ||
| sendSpeedCmdMsg(speed_command, torque_command); | ||
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| set_speed_controller_setpoint(500); // RPM |
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This should be configurable from the dash.
src/vcu/src/speed_controller.c
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| speed_controller_params.kp_times_1000 = 200; | ||
| speed_controller_params.ki_times_1000 = 0; | ||
| speed_controller_params.kd_times_1000 = 0; | ||
| speed_controller_params.i_windup_max = 10; |
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This is waayyyyyyyy to small
src/vcu/src/speed_controller.c
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| // Multiply by 100 for precision, example: 1234 rpm * 1000 / 12ms = 102833, 1 rpm * 1000 / 12ms = 83 | ||
| speed_controller_vars.deriv_rpm_error = | ||
| (speed_controller_vars.rpm_error | ||
| - speed_controller_vars.last_rpm_error) * 1000 / speed_controller_params.dt; |
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(Had offline conversation.)
…thub.com/MITMotorsports/MY18 into launch-control-internal-speed-controller
…:MITMotorsports/MY18 into launch-control-internal-speed-controller
This reverts commit 903e520.
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White spacing appears to be hard, @sebLopezCot 😿 |
| @@ -108,6 +108,10 @@ void dispatch_init() { | |||
| carstats.vcu_controls_received = false; | |||
| carstats.vcu_lc_controls_received = false; | |||
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| carstats.rpm_setpoint.rpm_setpoint = 0; | |||
| carstats.ki.ki_times_1000 = 1000; | |||
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I'd recommend you just zero this when init'ing
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Or loading in the default vals (we might want to start putting kp, ki as defines in a header for speed controller
(cherry picked from commit 40490cb)
This PR is used for reviewing the internal speed controller code which may be integrated with launch control. Note: this code should only be used on the jacks for it sets a constant speed and does not use the speeding up state yet.