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reduce startbreakcurrent

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interfisch 2021-05-28 20:48:20 +02:00
parent 88da7752f3
commit 69a08d0c3b
1 changed files with 1 additions and 1 deletions
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controller_teensy/src/main.cpp
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@ -486,7 +486,7 @@ void sendCMD() {
#define MINIMUM_CONSTANT_CMD_REDUCE 1 //reduce cmd every loop by this constant amount when freewheeling/braking #define MINIMUM_CONSTANT_CMD_REDUCE 1 //reduce cmd every loop by this constant amount when freewheeling/braking
#define BREAK_CMDREDUCE_PROPORTIONAL 100 //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=BREAK_CMDREDUCE_PROPORTIONAL / second @ full brake. with BREAK_CMDREDUCE_CONSTANT=1000 car would stop with full brake at least after a second (ignoring influence of brake current control/freewheeling) #define BREAK_CMDREDUCE_PROPORTIONAL 100 //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=BREAK_CMDREDUCE_PROPORTIONAL / second @ full brake. with BREAK_CMDREDUCE_CONSTANT=1000 car would stop with full brake at least after a second (ignoring influence of brake current control/freewheeling)
int16_t cmdreduce_constant=map(brake_pos,0,1000,0,(int16_t)(BREAK_CMDREDUCE_PROPORTIONAL*SENDPERIOD/1000)); //reduce cmd value every cycle int16_t cmdreduce_constant=map(brake_pos,0,1000,0,(int16_t)(BREAK_CMDREDUCE_PROPORTIONAL*SENDPERIOD/1000)); //reduce cmd value every cycle
#define STARTBREAKCURRENT 5 //Ampere. at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor #define STARTBREAKCURRENT 3 //Ampere. "targeted brake current @full brake". at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor
#define STARTBREAKCURRENT_OFFSET 0.1 //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading #define STARTBREAKCURRENT_OFFSET 0.1 //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
float brakepedal_current_multiplier=STARTBREAKCURRENT/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000) float brakepedal_current_multiplier=STARTBREAKCURRENT/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000)