TorqueControllerSlipLaunch Class Reference

#include <SlipLaunchController.h>

Inheritance diagram for TorqueControllerSlipLaunch:

Collaboration diagram for TorqueControllerSlipLaunch:

Public Member Functions
	TorqueControllerSlipLaunch (float slip_ratio, int16_t initial_speed_target)
	TorqueControllerSlipLaunch ()
	default constructor for slip launch controller: DEFAULT_SLIP_RATIO = 0.2, DEFAULT_LAUNCH_SPEED_TARGET = 1500(rpm) More...
void	calc_launch_algo (const VectornavData_s &vn_data) override
	Increases speed target during launch linearly according to slip ratio to keep the cars wheels spinning faster than the velocity for increased traction. 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	slip_ratio_

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 10 of file SlipLaunchController.h.

Constructor & Destructor Documentation

TorqueControllerSlipLaunch() [1/2]

TorqueControllerSlipLaunch::TorqueControllerSlipLaunch ( float  slip_ratio, int16_t  initial_speed_target  )

inline

SLIP LAUNCH CONTROLLER This launch controller is based off of a specified slip constant. It will at all times attempt to keep the wheelspeed at this certain higher percent of the body velocity of the car to keep it in constant slip

Parameters

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

Definition at line 24 of file SlipLaunchController.h.

        : BaseLaunchController(initial_speed_target),
          slip_ratio_(slip_ratio) {}

TorqueControllerSlipLaunch() [2/2]

TorqueControllerSlipLaunch::TorqueControllerSlipLaunch ( )

inline

default constructor for slip launch controller: DEFAULT_SLIP_RATIO = 0.2, DEFAULT_LAUNCH_SPEED_TARGET = 1500(rpm)

Definition at line 28 of file SlipLaunchController.h.

: TorqueControllerSlipLaunch(SlipLaunchControllerParams::DEFAULT_SLIP_RATIO, SlipLaunchControllerParams::DEFAULT_LAUNCH_SPEED_TARGET) {}

Member Function Documentation

calc_launch_algo()

void TorqueControllerSlipLaunch::calc_launch_algo ( const VectornavData_s &  vn_data )

overridevirtual

Increases speed target during launch linearly according to slip ratio to keep the cars wheels spinning faster than the velocity for increased traction.

Parameters

vn_data

This controller needs velocity data for to keep updating increasing the speed according to the slip ratio

Implements BaseLaunchController.

Definition at line 47 of file LaunchControllerAlgos.cpp.

{
    // accelerate at constant speed for a period of time to get body velocity up
    // may want to make this the ht07 launch algo
 
    // makes sure that the car launches at the target launch speed
    launch_speed_target_ = std::max(launch_speed_target_, (float)SlipLaunchControllerParams::DEFAULT_LAUNCH_SPEED_TARGET);
 
    /*
    New slip-ratio based launch algorithm by Luke Chen. The basic idea
    is to always be pushing the car a certain 'slip_ratio_' faster than
    the car is currently going, theoretically always keeping the car in slip
    */
    // m/s
    float new_speed_target = (1 + slip_ratio_) * (vn_data.velocity_x);
    // rpm
    new_speed_target *= METERS_PER_SECOND_TO_RPM;
    // makes sure the car target speed never goes lower than prev. target
    // allows for the vn to 'spool' up and us to get reliable vx data
    launch_speed_target_ = std::max(launch_speed_target_, new_speed_target);
}

Member Data Documentation

slip_ratio_

float TorqueControllerSlipLaunch::slip_ratio_

private

Definition at line 13 of file SlipLaunchController.h.

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

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