Added steer dependent torque delta constraint to TCS

hytech-racing · May 10, 2024 · a5be8d7 · a5be8d7
1 parent f2c263a
commit a5be8d7
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Showing 4 changed files with 20 additions and 4 deletions.
diff --git a/lib/systems/include/CASESystem.h b/lib/systems/include/CASESystem.h
@@ -60,6 +60,10 @@ struct CASEConfiguration
     float maxNormalLoadBrakeScalingFront;
     float tcs_saturation_front;
     float tcs_saturation_rear;
+    float TCSGenLeftRightDiffLowerBound;
+    float TCSGenLeftRightDiffUpperBound;
+    float TCSWheelSteerLowerBound;
+    float TCSWheelSteerUpperBound;
 
     float max_rpm;
     float max_regen_torque;

diff --git a/lib/systems/include/CASESystem.tpp b/lib/systems/include/CASESystem.tpp
@@ -135,7 +135,15 @@ DrivetrainCommand_s CASESystem<message_queue>::evaluate(
 
     in.TCS_Saturation_Rear = config_.tcs_saturation_rear;
 
-        if ((vn_active_start_time_ == 0) && (vn_status >= 2))
+    in.TCSGenLeftRightDiffLowerBound = config_.TCSGenLeftRightDiffLowerBound;
+
+    in.TCSGenLeftRightDiffUpperBound = config_.TCSGenLeftRightDiffUpperBound;
+
+    in.TCSWheelSteerLowerBound = config_.TCSWheelSteerLowerBound;
+
+    in.TCSWheelSteerUpperBound = config_.TCSWheelSteerUpperBound;
+
+    if ((vn_active_start_time_ == 0) && (vn_status >= 2))
     {
         vn_active_start_time_ = tick.millis;
     }
@@ -217,6 +225,7 @@ DrivetrainCommand_s CASESystem<message_queue>::evaluate(
         enqueue_matlab_msg(msg_queue_, res.controllerBus_controller_tcs_co);
         enqueue_matlab_msg(msg_queue_, res.controllerBus_controller_yaw_pi);
         enqueue_matlab_msg(msg_queue_, res.controllerBus_controller_tcs_sa);
+        enqueue_matlab_msg(msg_queue_, res.controllerBus_controller_tcs_di);
 
         last_lowest_priority_controller_send_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/87/can_lib.tar.gz
-    git+ssh://git@github.com/hytech-racing/CASE_lib.git#v46
+    https://github.com/hytech-racing/HT_CAN/releases/download/89/can_lib.tar.gz
+    git+ssh://git@github.com/hytech-racing/CASE_lib.git#v47
 
 [env:test_can_on_teensy]
 lib_ignore =

diff --git a/src/main.cpp b/src/main.cpp
@@ -204,7 +204,10 @@ CASEConfiguration case_config = {
     .maxNormalLoadBrakeScalingFront = 1.25,
     .tcs_saturation_front = 20,
     .tcs_saturation_rear = 20,
-
+    .TCSGenLeftRightDiffLowerBound = 2,  // N-m
+    .TCSGenLeftRightDiffUpperBound = 20, // N-m
+    .TCSWheelSteerLowerBound = 2,        // Deg
+    .TCSWheelSteerUpperBound = 25,       // Deg
 
     // Following used for calculate_torque_request in CASESystem.tpp
     .max_rpm = 20000,