Added TCS saturation limit for front and rear axles

hytech-racing · May 9, 2024 · 32c0265 · 32c0265
1 parent a7913ab
commit 32c0265
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Showing 4 changed files with 13 additions and 3 deletions.
diff --git a/lib/systems/include/CASESystem.h b/lib/systems/include/CASESystem.h
@@ -58,6 +58,9 @@ struct CASEConfiguration
     float tcs_pid_lower_rpm_rear;
     float tcs_pid_upper_rpm_rear;
     float maxNormalLoadBrakeScalingFront;
+    float tcs_saturation_front;
+    float tcs_saturation_rear;
+
     float max_rpm;
     float max_regen_torque;
     float max_torque;

diff --git a/lib/systems/include/CASESystem.tpp b/lib/systems/include/CASESystem.tpp
@@ -131,7 +131,11 @@ DrivetrainCommand_s CASESystem<message_queue>::evaluate(
 
     in.maxNormalLoadBrakeScalingFront = config_.maxNormalLoadBrakeScalingFront;
 
-    if ((vn_active_start_time_ == 0) && (vn_status >= 2))
+    in.TCS_Saturation_Front = config_.tcs_saturation_front;
+
+    in.TCS_Saturation_Rear = config_.tcs_saturation_rear;
+
+        if ((vn_active_start_time_ == 0) && (vn_status >= 2))
     {
         vn_active_start_time_ = tick.millis;
     }

diff --git a/platformio.ini b/platformio.ini
@@ -55,8 +55,8 @@ lib_deps =
     https://github.com/RCMast3r/spi_libs
     https://github.com/tonton81/FlexCAN_T4
     https://github.com/RCMast3r/hytech_can#testing_new_inv_ids
-    https://github.com/hytech-racing/HT_CAN/releases/download/86/can_lib.tar.gz
-    git+ssh://git@github.com/hytech-racing/CASE_lib.git#v45
+    https://github.com/hytech-racing/HT_CAN/releases/download/87/can_lib.tar.gz
+    git+ssh://git@github.com/hytech-racing/CASE_lib.git#v46
 
 [env:test_can_on_teensy]
 lib_ignore =

diff --git a/src/main.cpp b/src/main.cpp
@@ -202,6 +202,9 @@ CASEConfiguration case_config = {
     .tcs_pid_lower_rpm_rear = 0.0,     // RPM
     .tcs_pid_upper_rpm_rear = 5000.0,  // RPM
     .maxNormalLoadBrakeScalingFront = 1.25,
+    .tcs_saturation_front = 20,
+    .tcs_saturation_rear = 20,
+
 
     // Following used for calculate_torque_request in CASESystem.tpp
     .max_rpm = 20000,