#include <TorqueControllerMux.h>

Collaboration diagram for TorqueControllerMux< num_controllers >:

Public Member Functions
	TorqueControllerMux ()=delete

	TorqueControllerMux (std::array< Controller *, num_controllers > controller_pointers, std::array< bool, num_controllers > mux_bypass_limits, float max_change_speed=TC_MUX_DEFAULT_PARAMS::MAX_SPEED_FOR_MODE_CHANGE, float max_torque_pos_change_delta=TC_MUX_DEFAULT_PARAMS::MAX_TORQUE_DELTA_FOR_MODE_CHANGE, float max_power_limit=TC_MUX_DEFAULT_PARAMS::MAX_POWER_LIMIT)
	constructor for the TC mux More...

const TorqueControllerMuxStatus &	get_tc_mux_status ()

DrivetrainCommand_s	getDrivetrainCommand (ControllerMode_e requested_controller_type, TorqueLimit_e controller_command_torque_limit, const SharedCarState_s &input_state)
	function that evaluates the mux, controllers and gets the active command More...

Private Member Functions
TorqueControllerMuxError	can_switch_controller_ (DrivetrainDynamicReport_s active_drivetrain_data, DrivetrainCommand_s previous_controller_command, DrivetrainCommand_s desired_controller_out)

DrivetrainCommand_s	apply_positive_speed_limit_ (const DrivetrainCommand_s &command)
	Clamps negative rpms to 0f. More...

DrivetrainCommand_s	apply_torque_limit_ (const DrivetrainCommand_s &command, float max_torque)
	Ensure torque is at most at the specified limit. If exceeding, then limit it in the returned DrivetrainCommand_s. More...

DrivetrainCommand_s	apply_power_limit_ (const DrivetrainCommand_s &command, const DrivetrainDynamicReport_s &drivetrain, float power_limit, float max_torque)
	Apply power limit (watts) such that the mechanical power of all wheels never exceeds the preset mechanical power limit. Scales all wheels down to preserve functionality of torque controllers. More...

DrivetrainCommand_s	apply_regen_limit_ (const DrivetrainCommand_s &command, const DrivetrainDynamicReport_s &drivetrain_data)
	begin limiting regen at noRegenLimitKPH (hardcoded in func) and completely limit regen at fullRegenLimitKPH (hardcoded in func) More...

Private Attributes
std::array< Controller *, num_controllers >	controller_pointers_

std::array< bool, num_controllers >	mux_bypass_limits_

std::unordered_map< TorqueLimit_e, float >	torque_limit_map_

float	max_change_speed_

float	max_torque_pos_change_delta_

float	max_power_limit_

DrivetrainCommand_s	prev_command_ = {}

TorqueControllerMuxStatus	active_status_ = {}

Detailed Description

template<std::size_t num_controllers>
class TorqueControllerMux< num_controllers >

Definition at line 60 of file TorqueControllerMux.h.

Constructor & Destructor Documentation

◆ TorqueControllerMux() [1/2]

template<std::size_t num_controllers>

TorqueControllerMux< num_controllers >::TorqueControllerMux ( )

delete

◆ TorqueControllerMux() [2/2]

template<std::size_t num_controllers>

TorqueControllerMux< num_controllers >::TorqueControllerMux	(	std::array< Controller *, num_controllers >	controller_pointers,
		std::array< bool, num_controllers >	mux_bypass_limits,
		float	max_change_speed = `TC_MUX_DEFAULT_PARAMS::MAX_SPEED_FOR_MODE_CHANGE`,
		float	max_torque_pos_change_delta = `TC_MUX_DEFAULT_PARAMS::MAX_TORQUE_DELTA_FOR_MODE_CHANGE`,
		float	max_power_limit = `TC_MUX_DEFAULT_PARAMS::MAX_POWER_LIMIT`
	)

inlineexplicit

constructor for the TC mux

Parameters

controller_pointers	the array of pointers to the controllers being muxed between
mux_bypass_limits	the array of aligned bools for determining if the limits should be applied to the controller outputs defaults to TC_MUX_DEFAULT_PARAMS::MAX_SPEED_FOR_MODE_CHANGE
max_change_speed	the max speed difference between the requested controller output and the actual speed of each wheel that if the controller has a diff larger than the mux will not switch to the requested controller
max_torque_pos_change_delta	same as speed but evaluated between the controller commanded torques defaults to TC_MUX_DEFAULT_PARAMS::MAX_TORQUE_DELTA_FOR_MODE_CHANGE
max_power_limit	the max power limit defaults to TC_MUX_DEFAULT_PARAMS::MAX_POWER_LIMIT

Note: TC Mux must be created with at least 1 controller.

Definition at line 116 of file TorqueControllerMux.h.

                                                                                        : controller_pointers_(controller_pointers),
                                                                                            mux_bypass_limits_(mux_bypass_limits),
                                                                                            max_change_speed_(max_change_speed),
                                                                                            max_torque_pos_change_delta_(max_torque_pos_change_delta),
                                                                                            max_power_limit_(max_power_limit)
 
 
    {
        static_assert(num_controllers > 0, "Must create TC mux with at least 1 controller");
 
    }

Member Function Documentation

◆ apply_positive_speed_limit_()

template<std::size_t num_controllers>

DrivetrainCommand_s TorqueControllerMux< num_controllers >::apply_positive_speed_limit_ ( const DrivetrainCommand_s & command )

private

Clamps negative rpms to 0f.

Parameters

const DrivetrainCommand_s &command provides the rpm info as a DrivetrainCommand_s

Returns: DrivetrainCommand_s to update the drivetrain command in the getDrivetrainCommand method

◆ apply_power_limit_()

template<std::size_t num_controllers>

DrivetrainCommand_s TorqueControllerMux< num_controllers >::apply_power_limit_	(	const DrivetrainCommand_s &	command,
		const DrivetrainDynamicReport_s &	drivetrain,
		float	power_limit,
		float	max_torque
	)

private

Apply power limit (watts) such that the mechanical power of all wheels never exceeds the preset mechanical power limit. Scales all wheels down to preserve functionality of torque controllers.

Parameters

const	DrivetrainCommand_s &command provides torque info, which is used to calculate mechanical power
const	DrivetrainDynamicReport_s &drivetrain provides RPMS, which are used to calculate radians / s
float	max_torque is used to indirectly specifiy the max power

Returns: DrivetrainCommand_s to update the drivetrain command in the getDrivetrainCommand method

◆ apply_regen_limit_()

template<std::size_t num_controllers>

DrivetrainCommand_s TorqueControllerMux< num_controllers >::apply_regen_limit_	(	const DrivetrainCommand_s &	command,
		const DrivetrainDynamicReport_s &	drivetrain_data
	)

private

begin limiting regen at noRegenLimitKPH (hardcoded in func) and completely limit regen at fullRegenLimitKPH (hardcoded in func)

Parameters

const	DrivetrainCommand_s &command
const	DrivetrainDynamicReport_s &drivetrain_data provides RPMs

Returns: DrivetrainCommand_s to update the drivetrain command in the getDrivetrainCommand method

◆ apply_torque_limit_()

template<std::size_t num_controllers>

DrivetrainCommand_s TorqueControllerMux< num_controllers >::apply_torque_limit_	(	const DrivetrainCommand_s &	command,
		float	max_torque
	)

private

Ensure torque is at most at the specified limit. If exceeding, then limit it in the returned DrivetrainCommand_s.

Parameters

const	DrivetrainCommand_s &command is a DrivetrainCommand_s, which provides torque info
float	max_torque this is the maximum average torque the wheels are allowed to experience before it is limited.

Returns: DrivetrainCommand_s to update the drivetrain command in the getDrivetrainCommand method

◆ can_switch_controller_()

template<std::size_t num_controllers>

TorqueControllerMuxError TorqueControllerMux< num_controllers >::can_switch_controller_	(	DrivetrainDynamicReport_s	active_drivetrain_data,
		DrivetrainCommand_s	previous_controller_command,
		DrivetrainCommand_s	desired_controller_out
	)

private

◆ get_tc_mux_status()

template<std::size_t num_controllers>

const TorqueControllerMuxStatus & TorqueControllerMux< num_controllers >::get_tc_mux_status ( )

inline

Definition at line 132 of file TorqueControllerMux.h.

132{ return active_status_; }

TorqueControllerMux::active_status_

TorqueControllerMuxStatus active_status_

Definition: TorqueControllerMux.h:77

◆ getDrivetrainCommand()

template<std::size_t num_controllers>

DrivetrainCommand_s TorqueControllerMux< num_controllers >::getDrivetrainCommand	(	ControllerMode_e	requested_controller_type,
		TorqueLimit_e	controller_command_torque_limit,
		const SharedCarState_s &	input_state
	)

function that evaluates the mux, controllers and gets the active command

Parameters

requested_controller_type	the requested controller type from the dial state
controller_command_torque_limit	the torque limit state enum set by dashboard
input_state	the active state of the car

Returns: the active DrivetrainCommand_s to be sent to the drivetrain to command increases and decreases in torque

Member Data Documentation

◆ active_status_

template<std::size_t num_controllers>

TorqueControllerMuxStatus TorqueControllerMux< num_controllers >::active_status_ = {}

private

Definition at line 77 of file TorqueControllerMux.h.

◆ controller_pointers_

template<std::size_t num_controllers>

std::array<Controller *, num_controllers> TorqueControllerMux< num_controllers >::controller_pointers_

private

Definition at line 67 of file TorqueControllerMux.h.

◆ max_change_speed_

template<std::size_t num_controllers>

float TorqueControllerMux< num_controllers >::max_change_speed_

private

Definition at line 75 of file TorqueControllerMux.h.

◆ max_power_limit_

template<std::size_t num_controllers>

float TorqueControllerMux< num_controllers >::max_power_limit_

private

Definition at line 75 of file TorqueControllerMux.h.

◆ max_torque_pos_change_delta_

template<std::size_t num_controllers>

float TorqueControllerMux< num_controllers >::max_torque_pos_change_delta_

private

Definition at line 75 of file TorqueControllerMux.h.

◆ mux_bypass_limits_

template<std::size_t num_controllers>

std::array<bool, num_controllers> TorqueControllerMux< num_controllers >::mux_bypass_limits_

private

Definition at line 69 of file TorqueControllerMux.h.

◆ prev_command_

template<std::size_t num_controllers>

DrivetrainCommand_s TorqueControllerMux< num_controllers >::prev_command_ = {}

private

Definition at line 76 of file TorqueControllerMux.h.

◆ torque_limit_map_

template<std::size_t num_controllers>

std::unordered_map<TorqueLimit_e, float> TorqueControllerMux< num_controllers >::torque_limit_map_

private

Initial value:

= {
        {TorqueLimit_e::TCMUX_FULL_TORQUE, PhysicalParameters::AMK_MAX_TORQUE},
        {TorqueLimit_e::TCMUX_MID_TORQUE, 15.0f},
        {TorqueLimit_e::TCMUX_LOW_TORQUE, 10.0f}}

Definition at line 71 of file TorqueControllerMux.h.

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

lib/systems/include/TorqueControllerMux.h

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TorqueControllerMux() [1/2]

◆ TorqueControllerMux() [2/2]

Member Function Documentation

◆ apply_positive_speed_limit_()

◆ apply_power_limit_()

◆ apply_regen_limit_()

◆ apply_torque_limit_()

◆ can_switch_controller_()

◆ get_tc_mux_status()

◆ getDrivetrainCommand()

Member Data Documentation

◆ active_status_

◆ controller_pointers_

◆ max_change_speed_

◆ max_power_limit_

◆ max_torque_pos_change_delta_

◆ mux_bypass_limits_

◆ prev_command_

◆ torque_limit_map_