Revert "added derate factor to case and loadcell"

This reverts commit 5d9761b.
hytech-racing · May 21, 2024 · 760bd8f · 760bd8f
1 parent 5d9761b
commit 760bd8f
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Showing 2 changed files with 5 additions and 8 deletions.
diff --git a/lib/systems/include/CASESystem.tpp b/lib/systems/include/CASESystem.tpp
@@ -113,9 +113,7 @@ DrivetrainCommand_s CASESystem<message_queue>::evaluate(
 
     in.discontinuousBrakesPercentThres = config_.discontinuousBrakesPercentThreshold;
 
-    float derateFactor = get_acc_derate_factor();
-
-    in.TorqueMode = derateFactor * config_.TorqueMode;
+    in.TorqueMode = config_.TorqueMode;
 
     in.RegenLimit = config_.RegenLimit;
 

diff --git a/lib/systems/src/TorqueControllers.cpp b/lib/systems/src/TorqueControllers.cpp
@@ -96,7 +96,6 @@ void TorqueControllerLoadCellVectoring::tick(
         if (ready_)
         {
             // Calculate total normal force
-            float derateFactor = get_acc_derate_factor();
             float sumNormalForce = 0.0f;
             for (int i = 0; i < 4; i++)
             {
@@ -120,10 +119,10 @@ void TorqueControllerLoadCellVectoring::tick(
                 writeout_.command.speeds_rpm[RL] = AMK_MAX_RPM;
                 writeout_.command.speeds_rpm[RR] = AMK_MAX_RPM;
 
-                writeout_.command.torqueSetpoints[FL] = torquePool * frontTorqueScale_ * loadCellForcesFiltered_[0] / sumNormalForce * derateFactor;
-                writeout_.command.torqueSetpoints[FR] = torquePool * frontTorqueScale_ * loadCellForcesFiltered_[1] / sumNormalForce * derateFactor;
-                writeout_.command.torqueSetpoints[RL] = torquePool * rearTorqueScale_ * loadCellForcesFiltered_[2] / sumNormalForce * derateFactor;
-                writeout_.command.torqueSetpoints[RR] = torquePool * rearTorqueScale_ * loadCellForcesFiltered_[3] / sumNormalForce * derateFactor;
+                writeout_.command.torqueSetpoints[FL] = torquePool * frontTorqueScale_ * loadCellForcesFiltered_[0] / sumNormalForce;
+                writeout_.command.torqueSetpoints[FR] = torquePool * frontTorqueScale_ * loadCellForcesFiltered_[1] / sumNormalForce;
+                writeout_.command.torqueSetpoints[RL] = torquePool * rearTorqueScale_ * loadCellForcesFiltered_[2] / sumNormalForce;
+                writeout_.command.torqueSetpoints[RR] = torquePool * rearTorqueScale_ * loadCellForcesFiltered_[3] / sumNormalForce;
             }
             else
             {