switched back to precomp CASE param (Ryan demanded) and re-tuned pedals

src/main.cpp

@@ -97,7 +97,7 @@ const PedalsParams accel_params = {
     .max_sensor_pedal_1 = ACCEL1_PEDAL_OOR_MAX,
     .max_sensor_pedal_2 = ACCEL2_PEDAL_OOR_MAX,
     .activation_percentage = APPS_ACTIVATION_PERCENTAGE,
-    .deadzone_margin = DEFAULT_PEDAL_DEADZONE,
+    .deadzone_margin = 0.08f,
     .implausibility_margin = DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN,
     .mechanical_activation_percentage = APPS_ACTIVATION_PERCENTAGE};
 
@@ -217,8 +217,8 @@ TorqueControllerMux torque_controller_mux(SIMPLE_TC_REAR_TORQUE_SCALE, SIMPLE_TC
 CASEConfiguration case_config = {
     // Following used for generated code
     .AbsoluteTorqueLimit = 21.42, // N-m, Torque limit used for yaw pid torque split overflow
-    .yaw_pid_p = 1.15,
-    .yaw_pid_i = 0.0,
+    .yaw_pid_p = 1.5,
+    .yaw_pid_i = 0.25,
     .yaw_pid_d = 0.0,
     .tcs_pid_p_lowerBound_front = 55.0, // if tcs_pid_p_lowerBound_front > tcs_pid_p_upperBound_front, inverse relationship, no error
     .tcs_pid_p_upperBound_front = 42.0,
@@ -242,7 +242,7 @@ CASEConfiguration case_config = {
     .yawPIDErrorThreshold = 0.1,   // rad/s
     .yawPIDVelThreshold = 0.35,    // m/s
     .yawPIDCoastThreshold = 2.5,   // m/s
-    .yaw_pid_brakes_p = 0.1,
+    .yaw_pid_brakes_p = 0.25,
     .yaw_pid_brakes_i = 0.0,
     .yaw_pid_brakes_d = 0.0,
     .decoupledYawPIDBrakesMaxDIfference = 2, // N-m
@@ -252,14 +252,14 @@ CASEConfiguration case_config = {
     .useNoRegen5kph = true,
     .useTorqueBias = true,
     .DriveTorquePercentFront = 0.5, // DON'T TOUCH UNTIL LOAD CELL ADHERES TO DRIVE BIAS
-    .BrakeTorquePercentFront = 0.6,
-    .MechPowerMaxkW =51.5,            // kW
+    .BrakeTorquePercentFront = 0.7,
+    .MechPowerMaxkW = 63.0,            // kW
     .launchLeftRightMaxDiff = 2.0,     // N-m
     .tcs_pid_lower_rpm_front = 0.0,    // RPM
     .tcs_pid_upper_rpm_front = 5000.0, // RPM
     .tcs_pid_lower_rpm_rear = 0.0,     // RPM
     .tcs_pid_upper_rpm_rear = 5000.0,  // RPM
-    .maxNormalLoadBrakeScalingFront = 1.15,
+    .maxNormalLoadBrakeScalingFront = 1.25,
     .tcs_saturation_front = 20,
     .tcs_saturation_rear = 20,
     .TCSGenLeftRightDiffLowerBound = 2,  // N-m