Derate only on CASE + fix derate regen

lib/systems/src/TorqueControllerMux.cpp

@@ -105,16 +105,19 @@ void TorqueControllerMux::tick(
 
         // Apply setpoints value limits
         // Derating for endurance
-        applyDerate(&drivetrainCommand_, accDerateFactor);
+
+
 
         if (muxMode_ != TC_CASE_SYSTEM)
-        {
+        {   
             // Safety checks for CASE: CASE handles regen, torque, and power limit internally
             applyRegenLimit(&drivetrainCommand_, &drivetrainData);
             // Apply torque limit before power limit to not power limit
             applyTorqueLimit(&drivetrainCommand_);
             applyPowerLimit(&drivetrainCommand_, &drivetrainData);
-        }        
+        }   else{
+            applyDerate(&drivetrainCommand_, accDerateFactor);
+        }     
 
         // Uniformly apply speed limit to all controller modes
         applyPosSpeedLimit(&drivetrainCommand_);
@@ -178,10 +181,18 @@ void TorqueControllerMux::applyRegenLimit(DrivetrainCommand_s *command, const Dr
 */
 void TorqueControllerMux::applyDerate(DrivetrainCommand_s *command, float accDerateFactor)
 {
-    for (int i = 0; i < NUM_MOTORS; i++)
-    {
-        command->torqueSetpoints[i] *= accDerateFactor;
+    if( command->speeds_rpm[0] != 0 &&
+        command->speeds_rpm[1] != 0 &&
+        command->speeds_rpm[2] != 0 &&
+        command->speeds_rpm[3] != 0) {
+        for (int i = 0; i < NUM_MOTORS; i++)
+        {
+            command->torqueSetpoints[i] *= accDerateFactor;
+        }  
+
     }
+
+
 }
 
 /*