fix torque derating calculations

Northeastern-Electric-Racing · Sep 21, 2024 · 00c59bb · 00c59bb
1 parent 39d056a
commit 00c59bb
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Showing 2 changed files with 9 additions and 8 deletions.
diff --git a/Core/Inc/cerberus_conf.h b/Core/Inc/cerberus_conf.h
@@ -31,6 +31,7 @@
 
 /* Torque Tuning */
 #define MAX_TORQUE 220 /* Nm */
+#define PIT_MAX_TORQUE 0.3 * MAX_TORQUE
 
 /* Endurance Mode Thresholds */
 #define REGEN_THRESHOLD 0.01

diff --git a/Core/Src/pedals.c b/Core/Src/pedals.c
@@ -242,14 +242,14 @@ static int16_t derate_torque(float mph, float accel)
  if (mph > PIT_MAX_SPEED) {
  torque = 0;
  } else {
- /* Highest torque % in pit mode */
- static const float max_torque_percent = 0.3;
- /* Linearly derate torque from 30% to 0% as speed increases */
- float torque_derating_factor =
- max_torque_percent -
- (max_torque_percent / PIT_MAX_SPEED);
- accel *= torque_derating_factor;
- torque = MAX_TORQUE * accel;
+ /* Linearly derate torque as speed increases */
+ torque = accel * PIT_MAX_TORQUE;
+ /* Max torque based on mph */
+ int16_t max_torque = PIT_MAX_TORQUE -
+  (mph * (PIT_MAX_TORQUE / PIT_MAX_SPEED));
+
+ if (torque > max_torque)
+  torque = max_torque;
  }
 
  /* Add value to moving average */