TorqueControllerSimple Class Reference

#include <SimpleController.h>

Inheritance diagram for TorqueControllerSimple:

Collaboration diagram for TorqueControllerSimple:

Public Member Functions
	TorqueControllerSimple (float rearTorqueScale, float regenTorqueScale)
	simple TC with tunable F/R torque balance. Accel torque balance can be tuned independently of regen torque balance More...
void	tick (const PedalsSystemData_s &pedalsData)
	calculates torque output based off max torque and simple torque scaling metric defined in constructor and adjusts writeout_ accordingly More...
TorqueControllerOutput_s	evaluate (const SharedCarState_s &state) override
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...

Private Attributes
TorqueControllerOutput_s	writeout_
float	frontTorqueScale_ = 1.0
float	rearTorqueScale_ = 1.0
float	frontRegenTorqueScale_ = 1.0
float	rearRegenTorqueScale_ = 1.0

Detailed Description

Definition at line 8 of file SimpleController.h.

Constructor & Destructor Documentation

TorqueControllerSimple()

TorqueControllerSimple::TorqueControllerSimple ( float  rearTorqueScale, float  regenTorqueScale  )

inline

simple TC with tunable F/R torque balance. Accel torque balance can be tuned independently of regen torque balance

Parameters

writeout	the reference to the torque controller output being sent that contains the drivetrain command
rearTorqueScale	0 to 2 scale on forward torque to rear wheels. 0 = FWD, 1 = Balanced, 2 = RWD
regenTorqueScale	same as rearTorqueScale but applies to regen torque split. 0 = All regen torque on the front, 1 = 50/50, 2 = all regen torque on the rear

Definition at line 22 of file SimpleController.h.

        : frontTorqueScale_(2.0 - rearTorqueScale),
          rearTorqueScale_(rearTorqueScale),
          frontRegenTorqueScale_(2.0 - regenTorqueScale),
          rearRegenTorqueScale_(regenTorqueScale)
    {
        writeout_.command = BaseControllerParams::TC_COMMAND_NO_TORQUE;
        writeout_.ready = true;
    }

Member Function Documentation

evaluate()

TorqueControllerOutput_s TorqueControllerSimple::evaluate ( const SharedCarState_s &  state )

overridevirtual

Note

refer to parent class for function documentation

Implements Controller.

Definition at line 43 of file SimpleController.cpp.

{
    tick(state.pedals_data);
    return writeout_;
}

tick()

void TorqueControllerSimple::tick

(

const PedalsSystemData_s &

pedalsData

)

calculates torque output based off max torque and simple torque scaling metric defined in constructor and adjusts writeout_ accordingly

Parameters

pedalsData

controller calculates acceleration request from the pedals based off of this data

Definition at line 3 of file SimpleController.cpp.

{
 
    // Both pedals are not pressed and no implausibility has been detected
    // accelRequest goes between 1.0 and -1.0
    float accelRequest = pedalsData.accelPercent - pedalsData.regenPercent;
    float torqueRequest;
 
    if (accelRequest >= 0.0)
    {
        // Positive torque request
        torqueRequest = accelRequest * PhysicalParameters::AMK_MAX_TORQUE;
 
        writeout_.command.speeds_rpm[FL] = PhysicalParameters::AMK_MAX_RPM;
        writeout_.command.speeds_rpm[FR] = PhysicalParameters::AMK_MAX_RPM;
        writeout_.command.speeds_rpm[RL] = PhysicalParameters::AMK_MAX_RPM;
        writeout_.command.speeds_rpm[RR] = PhysicalParameters::AMK_MAX_RPM;
 
        writeout_.command.inverter_torque_limit[FL] = torqueRequest * frontTorqueScale_;
        writeout_.command.inverter_torque_limit[FR] = torqueRequest * frontTorqueScale_;
        writeout_.command.inverter_torque_limit[RL] = torqueRequest * rearTorqueScale_;
        writeout_.command.inverter_torque_limit[RR] = torqueRequest * rearTorqueScale_;
    }
    else
    {
        // Negative torque request
        torqueRequest = PhysicalParameters::MAX_REGEN_TORQUE * accelRequest * -1.0;
 
        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] = torqueRequest * frontRegenTorqueScale_;
        writeout_.command.inverter_torque_limit[FR] = torqueRequest * frontRegenTorqueScale_;
        writeout_.command.inverter_torque_limit[RL] = torqueRequest * rearRegenTorqueScale_;
        writeout_.command.inverter_torque_limit[RR] = torqueRequest * rearRegenTorqueScale_;
    }
}

Member Data Documentation

frontRegenTorqueScale_

float TorqueControllerSimple::frontRegenTorqueScale_ = 1.0

private

Definition at line 14 of file SimpleController.h.

frontTorqueScale_

float TorqueControllerSimple::frontTorqueScale_ = 1.0

private

Definition at line 12 of file SimpleController.h.

rearRegenTorqueScale_

float TorqueControllerSimple::rearRegenTorqueScale_ = 1.0

private

Definition at line 15 of file SimpleController.h.

rearTorqueScale_

float TorqueControllerSimple::rearTorqueScale_ = 1.0

private

Definition at line 13 of file SimpleController.h.

writeout_

TorqueControllerOutput_s TorqueControllerSimple::writeout_

private

Definition at line 11 of file SimpleController.h.

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

• lib/systems/include/Controllers/SimpleController.h
• lib/systems/src/Controllers/SimpleController.cpp