this class with both take in sensor inputs as well as handle calculations for various derived states of the car. More...

#include <CASESystem.h>

Collaboration diagram for CASESystem< message_queue >:

Public Member Functions
	CASESystem ()=delete

	CASESystem (message_queue *can_queue, unsigned long controller_send_period_ms, unsigned long vehicle_math_offset_ms, unsigned long lowest_controller_send_period_ms, CASEConfiguration config)
	constructor for state estimator system. More...

DrivetrainCommand_s	evaluate (const SysTick_s &tick, const VectornavData_s &vn_data, const SteeringSystemData_s &steering_data, const DrivetrainDynamicReport_s &drivetrain_data, const veh_vec< AnalogConversion_s > &load_cell_vals, const PedalsSystemData_s &pedals_data, float power_kw, CAR_STATE fsm_state, bool start_button_pressed, uint8_t vn_status)
	function that evaluates the CASE (controller and state estimation) system. updates the internal pstate_ and returns controller result More...

DrivetrainCommand_s	get_current_drive_command ()

float	calculate_torque_request (const PedalsSystemData_s &pedals_data, float max_torque, float max_regen_torque, float max_rpm)
	uses pedal data to determine the torque to be requested from the motors pedals_data.accelPercent - pedals_data.regenPercent -> where accelpercent is to what percent the acellerator is pushed and the regen percent is the amount of regenerative braking currently applied More...

float	get_rpm_setpoint (float final_torque)
	retrieves rpm setpoint based on final torque value More...

Private Attributes
DrivetrainCommand_s	current_command_

CASEConfiguration	config_

message_queue *	msg_queue_

HT08_CASE	case_

unsigned long	vn_active_start_time_

unsigned long	last_eval_time_

unsigned long	vehicle_math_offset_ms_

unsigned long	last_controller_pt1_send_time_

unsigned long	last_controller_pt2_send_time_

unsigned long	last_controller_pt3_send_time_

unsigned long	last_vehm_send_time_

unsigned long	controller_send_period_ms_

unsigned long	lowest_priority_controller_send_period_ms_

unsigned long	last_lowest_priority_controller_send_time_

Detailed Description

template<typename message_queue>
class CASESystem< message_queue >

this class with both take in sensor inputs as well as handle calculations for various derived states of the car.

Template Parameters

message_queue the msg queue that is being used with the underlying msging interfaces

Definition at line 96 of file CASESystem.h.

Constructor & Destructor Documentation

◆ CASESystem() [1/2]

template<typename message_queue >

CASESystem< message_queue >::CASESystem ( )

delete

◆ CASESystem() [2/2]

template<typename message_queue >

CASESystem< message_queue >::CASESystem	(	message_queue *	can_queue,
		unsigned long	controller_send_period_ms,
		unsigned long	vehicle_math_offset_ms,
		unsigned long	lowest_controller_send_period_ms,
		CASEConfiguration	config
	)

inline

constructor for state estimator system.

Parameters

can_queue	the pointer to the message queue that will have the CAN messages put onto it
send_period_ms	the period in which messages will be put into the queue to be sent in milliseconds.
vehicle_math_offset_ms	the offset in ms from controller message sending that the vehicle math messages will be sent

Definition at line 104 of file CASESystem.h.

    {
        msg_queue_ = can_queue;
        case_.initialize();
        vn_active_start_time_ = 0;
        config_ = config;
        last_controller_pt1_send_time_ = 0;
        last_controller_pt2_send_time_ = 0;
        last_controller_pt3_send_time_ = 0;
        last_lowest_priority_controller_send_time_ = 0;
 
        controller_send_period_ms_ = controller_send_period_ms;
        last_vehm_send_time_ = 0;
        vehicle_math_offset_ms_ = vehicle_math_offset_ms;
        lowest_priority_controller_send_period_ms_ = lowest_controller_send_period_ms;
    }

Member Function Documentation

◆ calculate_torque_request()

template<typename message_queue >

float CASESystem< message_queue >::calculate_torque_request	(	const PedalsSystemData_s &	pedals_data,
		float	max_torque,
		float	max_regen_torque,
		float	max_rpm
	)

uses pedal data to determine the torque to be requested from the motors pedals_data.accelPercent - pedals_data.regenPercent -> where accelpercent is to what percent the acellerator is pushed and the regen percent is the amount of regenerative braking currently applied

Parameters

pedals_data	has accel and regen percent
max_torque	not used right now
max_regen_torque	used for calculation of torque request
max_rpm	not used right now

Returns: float representing the calculated request

◆ evaluate()

template<typename message_queue >

DrivetrainCommand_s CASESystem< message_queue >::evaluate	(	const SysTick_s &	tick,
		const VectornavData_s &	vn_data,
		const SteeringSystemData_s &	steering_data,
		const DrivetrainDynamicReport_s &	drivetrain_data,
		const veh_vec< AnalogConversion_s > &	load_cell_vals,
		const PedalsSystemData_s &	pedals_data,
		float	power_kw,
		CAR_STATE	fsm_state,
		bool	start_button_pressed,
		uint8_t	vn_status
	)

function that evaluates the CASE (controller and state estimation) system. updates the internal pstate_ and returns controller result

Parameters

tick	current system tick
body_velocity_ms	body velocity vector
yaw_rate_rads	yaw rate in rad / s
steering_norm	steering value between -1 and 1 ish
wheel_rpms	wheel rpms
pedals_data	current pedals data
load_cell_vals	load cell forces in N
power_kw	current electrical power in kilo-watts
reset_integral	bool of whether or not to reset integral term

Returns: controller output

◆ get_current_drive_command()

template<typename message_queue >

DrivetrainCommand_s CASESystem< message_queue >::get_current_drive_command ( )

inline

Definition at line 149 of file CASESystem.h.

149{ return current_command_; }

CASESystem::current_command_

DrivetrainCommand_s current_command_

Definition: CASESystem.h:176

◆ get_rpm_setpoint()

template<typename message_queue >

float CASESystem< message_queue >::get_rpm_setpoint ( float final_torque )

inline

retrieves rpm setpoint based on final torque value

Parameters

float final_torque

Returns: The maximum RPM from the case configuration if torque is positive, otherwise 0.

Definition at line 163 of file CASESystem.h.

    {
        if (final_torque > 0)
        {
            return config_.max_rpm;
        }
        else
        {
            return 0;
        }
    }

Member Data Documentation

◆ case_

template<typename message_queue >

HT08_CASE CASESystem< message_queue >::case_

private

Definition at line 179 of file CASESystem.h.

◆ config_

template<typename message_queue >

CASEConfiguration CASESystem< message_queue >::config_

private

Definition at line 177 of file CASESystem.h.

◆ controller_send_period_ms_

template<typename message_queue >

unsigned long CASESystem< message_queue >::controller_send_period_ms_

private

Definition at line 181 of file CASESystem.h.

◆ current_command_

template<typename message_queue >

DrivetrainCommand_s CASESystem< message_queue >::current_command_

private

Definition at line 176 of file CASESystem.h.

◆ last_controller_pt1_send_time_

template<typename message_queue >

unsigned long CASESystem< message_queue >::last_controller_pt1_send_time_

private

Definition at line 181 of file CASESystem.h.

◆ last_controller_pt2_send_time_

template<typename message_queue >

unsigned long CASESystem< message_queue >::last_controller_pt2_send_time_

private

Definition at line 181 of file CASESystem.h.

◆ last_controller_pt3_send_time_

template<typename message_queue >

unsigned long CASESystem< message_queue >::last_controller_pt3_send_time_

private

Definition at line 181 of file CASESystem.h.

◆ last_eval_time_

template<typename message_queue >

unsigned long CASESystem< message_queue >::last_eval_time_

private

Definition at line 181 of file CASESystem.h.

◆ last_lowest_priority_controller_send_time_

template<typename message_queue >

unsigned long CASESystem< message_queue >::last_lowest_priority_controller_send_time_

private

Definition at line 181 of file CASESystem.h.

◆ last_vehm_send_time_

template<typename message_queue >

unsigned long CASESystem< message_queue >::last_vehm_send_time_

private

Definition at line 181 of file CASESystem.h.

◆ lowest_priority_controller_send_period_ms_

template<typename message_queue >

unsigned long CASESystem< message_queue >::lowest_priority_controller_send_period_ms_

private

Definition at line 181 of file CASESystem.h.

◆ msg_queue_

template<typename message_queue >

message_queue* CASESystem< message_queue >::msg_queue_

private

Definition at line 178 of file CASESystem.h.

◆ vehicle_math_offset_ms_

template<typename message_queue >

unsigned long CASESystem< message_queue >::vehicle_math_offset_ms_

private

Definition at line 181 of file CASESystem.h.

◆ vn_active_start_time_

template<typename message_queue >

unsigned long CASESystem< message_queue >::vn_active_start_time_

private

Definition at line 181 of file CASESystem.h.

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

lib/systems/include/CASESystem.h

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ CASESystem() [1/2]

◆ CASESystem() [2/2]

Member Function Documentation

◆ calculate_torque_request()

◆ evaluate()

◆ get_current_drive_command()

◆ get_rpm_setpoint()

Member Data Documentation

◆ case_

◆ config_

◆ controller_send_period_ms_

◆ current_command_

◆ last_controller_pt1_send_time_

◆ last_controller_pt2_send_time_

◆ last_controller_pt3_send_time_

◆ last_eval_time_

◆ last_lowest_priority_controller_send_time_

◆ last_vehm_send_time_

◆ lowest_priority_controller_send_period_ms_

◆ msg_queue_

◆ vehicle_math_offset_ms_

◆ vn_active_start_time_