TorqueControllerSimpleLaunch Class Reference

#include <SimpleLaunchController.h>

Inheritance diagram for TorqueControllerSimpleLaunch:

Collaboration diagram for TorqueControllerSimpleLaunch:

Public Member Functions
	TorqueControllerSimpleLaunch (float launch_rate, int16_t initial_speed_target)
	this launch controller is based off of a specified launch rate and an initial speed target It will ramp up the speed target linearly over time to accelerate More...
	TorqueControllerSimpleLaunch ()
	base constructor with default values: Default_Launch_Rate = 11.76, DEFAULT_LAUNCH_SPEED_TARGET = 1500(rpm) More...
void	calc_launch_algo (const VectornavData_s &vn_data) override
	Increases speed target during launch linearly based off launch rate provided in the constructor. More...
Public Member Functions inherited from BaseLaunchController
	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...

Private Attributes
float	launch_rate_target_

Additional Inherited Members
Protected Attributes inherited from BaseLaunchController
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 14 of file SimpleLaunchController.h.

Constructor & Destructor Documentation

TorqueControllerSimpleLaunch() [1/2]

TorqueControllerSimpleLaunch::TorqueControllerSimpleLaunch ( float  launch_rate, int16_t  initial_speed_target  )

inline

this launch controller is based off of a specified launch rate and an initial speed target It will ramp up the speed target linearly over time to accelerate

SIMPLE LAUNCH CONTROLLER

Parameters

launch_rate	specified launch rate in m/s^2
initial_speed_target	the initial speed commanded to the wheels

Definition at line 27 of file SimpleLaunchController.h.

        : BaseLaunchController(initial_speed_target),
          launch_rate_target_(launch_rate) {}

TorqueControllerSimpleLaunch() [2/2]

TorqueControllerSimpleLaunch::TorqueControllerSimpleLaunch ( )

inline

base constructor with default values: Default_Launch_Rate = 11.76, DEFAULT_LAUNCH_SPEED_TARGET = 1500(rpm)

Definition at line 32 of file SimpleLaunchController.h.

: TorqueControllerSimpleLaunch(SLParams::DEFAULT_LAUNCH_RATE, SLParams::DEFAULT_LAUNCH_SPEED_TARGET) {}

Member Function Documentation

calc_launch_algo()

void TorqueControllerSimpleLaunch::calc_launch_algo ( const VectornavData_s &  vn_data )

overridevirtual

Increases speed target during launch linearly based off launch rate provided in the constructor.

Parameters

vn_data

this data is not necessary for this controller but is supplied according to the interface

Implements BaseLaunchController.

Definition at line 6 of file LaunchControllerAlgos.cpp.

{
    /*
    Stolen launch algo from HT07. This ramps up the speed target over time.
    launch rate target is m/s^2 and is the target acceleration rate
    secs_since_launch takes the milliseconds since launch started and converts to sec
    This is then converted to RPM for a speed target
    There is an initial speed target that is your iitial instant acceleration on the wheels
    */
    float secs_since_launch = (float)(current_millis_ - time_of_launch_) / 1000.0;
    launch_speed_target_ = (int16_t)((float)secs_since_launch * launch_rate_target_ * METERS_PER_SECOND_TO_RPM);
    launch_speed_target_ += init_speed_target_;
    launch_speed_target_ = std::min((int)PhysicalParameters::AMK_MAX_RPM, std::max(0, (int)launch_speed_target_));
}

Member Data Documentation

launch_rate_target_

float TorqueControllerSimpleLaunch::launch_rate_target_

private

Definition at line 17 of file SimpleLaunchController.h.

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

• lib/systems/include/Controllers/SimpleLaunchController.h
• lib/systems/src/Controllers/LaunchControllerAlgos.cpp