#include <BaseLaunchController.h>

Inheritance diagram for BaseLaunchController:

Collaboration diagram for BaseLaunchController:

Public Member Functions
	BaseLaunchController (int16_t initial_speed_target)
	Constructor for parent launch controller. More...

void	tick (const SysTick_s &tick, const PedalsSystemData_s &pedalsData, const float wheel_rpms[], const VectornavData_s &vn_data)
	ticks launch controller to progress through launch states when conditions are met. The conditions are explained above the launch states enum. all launch controllers use this class' implementation of tick. tick conatains the current system tick controlled by main.cpp pedalsData conatins the brake and accelerator values wheel_rpms[] contains how fast each wheel is spinning, order of wheels in this array is defined in SharedDataTypes.h and Utility.h vn_data contains vector states of the car that will be provided to the calc_launch_algo method called in the LAUNCHING state of this set of modes More...

LaunchStates_e	get_launch_state ()

virtual void	calc_launch_algo (const VectornavData_s &vn_data)=0
	calculates how speed target (the speed the car is trying to achieve during launch) is set and/or increased during launch This updates internal speed target variable launch_speed_target_ More...

TorqueControllerOutput_s	evaluate (const SharedCarState_s &state) override
	all launch controllers share the same evaluate method implemented in this class implementation. More...

virtual TorqueControllerOutput_s	evaluate (const SharedCarState_s &state)=0
	This mehod must be implemented by every controller in the Tc Muxer. This is called in the Muxer whenever the drivetrain command is obtained. TorqueControllerMux.cpp to see that in every tick of the system, the active controller must be ticked through this method. More...

Protected Attributes
TorqueControllerOutput_s	writeout_

uint32_t	time_of_launch_

double	initial_ecef_x_

double	initial_ecef_y_

double	initial_ecef_z_

LaunchStates_e	launch_state_ = LaunchStates_e::LAUNCH_NOT_READY

uint32_t	current_millis_

float	launch_speed_target_ = 0.0

int16_t	init_speed_target_ = 0

Detailed Description

Definition at line 36 of file BaseLaunchController.h.

Constructor & Destructor Documentation

◆ BaseLaunchController()

BaseLaunchController::BaseLaunchController ( int16_t initial_speed_target )

inline

Constructor for parent launch controller.

Parameters

initial_speed_target used only in simple launch controller algorithm

Note: requires one method: calc_launch_algo

Definition at line 53 of file BaseLaunchController.h.

        : init_speed_target_(initial_speed_target)
    {
        writeout_.command = BaseControllerParams::TC_COMMAND_NO_TORQUE;
        writeout_.ready = true;
    }

Member Function Documentation

◆ calc_launch_algo()

virtual void BaseLaunchController::calc_launch_algo ( const VectornavData_s & vn_data )

pure virtual

calculates how speed target (the speed the car is trying to achieve during launch) is set and/or increased during launch This updates internal speed target variable launch_speed_target_

Parameters

vn_data vector data needed for calulations eg. speed and coordinates

Note: defines important variation in launch controller tick/evaluation as the launch controllers share a tick method defined in this parent class implementation; all launch algorithms are implemented in LaunchControllerAlgos.cpp

Implemented in TorqueControllerLookupLaunch, TorqueControllerSimpleLaunch, and TorqueControllerSlipLaunch.

◆ evaluate()

TorqueControllerOutput_s BaseLaunchController::evaluate ( const SharedCarState_s & state )

overridevirtual

all launch controllers share the same evaluate method implemented in this class implementation.

Note: refer to parent class for function documentation

Implements Controller.

Definition at line 110 of file BaseLaunchController.cpp.

{
    tick(state.systick, state.pedals_data, state.drivetrain_data.measuredSpeeds, state.vn_data);
    return writeout_;
}

◆ get_launch_state()

LaunchStates_e BaseLaunchController::get_launch_state ( )

inline

Definition at line 70 of file BaseLaunchController.h.

70{ return launch_state_; }

BaseLaunchController::launch_state_

LaunchStates_e launch_state_

Definition: BaseLaunchController.h:44

◆ tick()

void BaseLaunchController::tick	(	const SysTick_s &	tick,
		const PedalsSystemData_s &	pedalsData,
		const float	wheel_rpms[],
		const VectornavData_s &	vn_data
	)

ticks launch controller to progress through launch states when conditions are met. The conditions are explained above the launch states enum. all launch controllers use this class' implementation of tick. tick conatains the current system tick controlled by main.cpp pedalsData conatins the brake and accelerator values wheel_rpms[] contains how fast each wheel is spinning, order of wheels in this array is defined in SharedDataTypes.h and Utility.h vn_data contains vector states of the car that will be provided to the calc_launch_algo method called in the LAUNCHING state of this set of modes

Definition at line 3 of file BaseLaunchController.cpp.

{
 
    if (tick.triggers.trigger100)
    {
 
        current_millis_ = tick.millis;
 
        int16_t brake_torque_req = pedalsData.regenPercent * PhysicalParameters::MAX_REGEN_TORQUE;
 
        float max_speed = 0;
        for (int i = 0; i < 4; i++)
        {
            max_speed = std::max(max_speed, abs(wheel_rpms[i]));
        }
 
        writeout_.ready = true;
 
        switch (launch_state_)
        {
        case LaunchStates_e::LAUNCH_NOT_READY:
            // set torques and speed to 0
            writeout_.command.speeds_rpm[FL] = 0.0;
            writeout_.command.speeds_rpm[FR] = 0.0;
            writeout_.command.speeds_rpm[RL] = 0.0;
            writeout_.command.speeds_rpm[RR] = 0.0;
 
            writeout_.command.inverter_torque_limit[FL] = brake_torque_req;
            writeout_.command.inverter_torque_limit[FR] = brake_torque_req;
            writeout_.command.inverter_torque_limit[RL] = brake_torque_req;
            writeout_.command.inverter_torque_limit[RR] = brake_torque_req;
 
            // init launch vars
            launch_speed_target_ = 0;
            time_of_launch_ = tick.millis;
            // check speed is 0 and pedals not pressed
            if ((pedalsData.accelPercent < BaseLaunchControllerParams::launch_ready_accel_threshold) && (pedalsData.brakePercent < BaseLaunchControllerParams::launch_ready_brake_threshold) && (max_speed < BaseLaunchControllerParams::launch_ready_speed_threshold))
            {
                launch_state_ = LaunchStates_e::LAUNCH_READY;
            }
 
            break;
        case LaunchStates_e::LAUNCH_READY:
            // set torques and speed to 0
            writeout_.command.speeds_rpm[FL] = 0.0;
            writeout_.command.speeds_rpm[FR] = 0.0;
            writeout_.command.speeds_rpm[RL] = 0.0;
            writeout_.command.speeds_rpm[RR] = 0.0;
 
            writeout_.command.inverter_torque_limit[FL] = brake_torque_req;
            writeout_.command.inverter_torque_limit[FR] = brake_torque_req;
            writeout_.command.inverter_torque_limit[RL] = brake_torque_req;
            writeout_.command.inverter_torque_limit[RR] = brake_torque_req;
 
            // init launch vars
            launch_speed_target_ = 0;
            time_of_launch_ = current_millis_;
 
            // check speed is 0 and brake not pressed
            if ((pedalsData.brakePercent >= BaseLaunchControllerParams::launch_ready_brake_threshold) || (max_speed >= BaseLaunchControllerParams::launch_ready_speed_threshold))
            {
                launch_state_ = LaunchStates_e::LAUNCH_NOT_READY;
            }
            else if (pedalsData.accelPercent >= BaseLaunchControllerParams::launch_go_accel_threshold)
            {
 
                initial_ecef_x_ = vn_data.ecef_coords[0];
                initial_ecef_y_ = vn_data.ecef_coords[1];
                initial_ecef_z_ = vn_data.ecef_coords[2];
 
                launch_state_ = LaunchStates_e::LAUNCHING;
            }
 
            // check accel above launch threshold and launch
            break;
        case LaunchStates_e::LAUNCHING:
        { // use brackets to ignore 'cross initialization' of secs_since_launch
            // check accel below launch threshold and brake above
            if ((pedalsData.accelPercent <= BaseLaunchControllerParams::launch_stop_accel_threshold) || (pedalsData.brakePercent >= BaseLaunchControllerParams::launch_ready_brake_threshold))
            {
                launch_state_ = LaunchStates_e::LAUNCH_NOT_READY;
            }
 
            calc_launch_algo(vn_data);
 
            writeout_.command.speeds_rpm[FL] = launch_speed_target_;
            writeout_.command.speeds_rpm[FR] = launch_speed_target_;
            writeout_.command.speeds_rpm[RL] = launch_speed_target_;
            writeout_.command.speeds_rpm[RR] = launch_speed_target_;
 
            writeout_.command.inverter_torque_limit[FL] = PhysicalParameters::AMK_MAX_TORQUE;
            writeout_.command.inverter_torque_limit[FR] = PhysicalParameters::AMK_MAX_TORQUE;
            writeout_.command.inverter_torque_limit[RL] = PhysicalParameters::AMK_MAX_TORQUE;
            writeout_.command.inverter_torque_limit[RR] = PhysicalParameters::AMK_MAX_TORQUE;
 
            break;
        }
        default:
            break;
        }
    }
}

Member Data Documentation

◆ current_millis_

uint32_t BaseLaunchController::current_millis_

protected

Definition at line 45 of file BaseLaunchController.h.

◆ init_speed_target_

int16_t BaseLaunchController::init_speed_target_ = 0

protected

Definition at line 47 of file BaseLaunchController.h.

◆ initial_ecef_x_

double BaseLaunchController::initial_ecef_x_

protected

Definition at line 41 of file BaseLaunchController.h.

◆ initial_ecef_y_

double BaseLaunchController::initial_ecef_y_

protected

Definition at line 42 of file BaseLaunchController.h.

◆ initial_ecef_z_

double BaseLaunchController::initial_ecef_z_

protected

Definition at line 43 of file BaseLaunchController.h.

◆ launch_speed_target_

float BaseLaunchController::launch_speed_target_ = 0.0

protected

Definition at line 46 of file BaseLaunchController.h.

◆ launch_state_

LaunchStates_e BaseLaunchController::launch_state_ = LaunchStates_e::LAUNCH_NOT_READY

protected

Definition at line 44 of file BaseLaunchController.h.

◆ time_of_launch_

uint32_t BaseLaunchController::time_of_launch_

protected

Definition at line 40 of file BaseLaunchController.h.

◆ writeout_

TorqueControllerOutput_s BaseLaunchController::writeout_

protected

Definition at line 39 of file BaseLaunchController.h.

The documentation for this class was generated from the following files:

lib/systems/include/BaseLaunchController.h
lib/systems/src/Controllers/BaseLaunchController.cpp

Public Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ BaseLaunchController()

Member Function Documentation

◆ calc_launch_algo()

◆ evaluate()

◆ get_launch_state()

◆ tick()

Member Data Documentation

◆ current_millis_

◆ init_speed_target_

◆ initial_ecef_x_

◆ initial_ecef_y_

◆ initial_ecef_z_

◆ launch_speed_target_

◆ launch_state_

◆ time_of_launch_

◆ writeout_