torque_controller.c File Reference

Vehicle torque request calculation. More...

#include "torque_controller.h"
#include "can_library/generated/MAIN_MODULE.h"
#include "common/utils/min.h"

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Functions
static torque_request_t	zero_torque_request (void)
static torque_request_t	direct_mapped_regen (void)
static torque_request_t	direct_mapped_throttle (void)
static torque_request_t	torque_vectoring_request (void)
torque_request_t	torque_controller_get_request (void)

Variables
static constexpr float	WHEEL_RADIUS_IN = 8.0f
static constexpr float	GEAR_RATIO = 12.51f
static constexpr float	WHEEL_CIRCUMFERENCE_IN = 2.0f * 3.14159f * WHEEL_RADIUS_IN
static constexpr float	OUTPUT_REV_PER_MOTOR_REV = 1.0f / GEAR_RATIO
static constexpr float	INCHES_PER_MOTOR_REV = WHEEL_CIRCUMFERENCE_IN * OUTPUT_REV_PER_MOTOR_REV
static constexpr float	MINUTES_PER_HOUR = 60.0f
static constexpr float	INCHES_PER_MILE = 63360.0f
static constexpr float	RPM_TO_MPH = INCHES_PER_MOTOR_REV * MINUTES_PER_HOUR / INCHES_PER_MILE

Detailed Description

Vehicle torque request calculation.

Author

Irving Wang (irvin.nosp@m.gw@p.nosp@m.urdue.nosp@m..edu)

Function Documentation

direct_mapped_regen()

static torque_request_t direct_mapped_regen ( void )

static

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direct_mapped_throttle()

static torque_request_t direct_mapped_throttle ( void )

static

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torque_controller_get_request()

torque_request_t torque_controller_get_request

(

void

)

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torque_vectoring_request()

static torque_request_t torque_vectoring_request ( void )

static

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zero_torque_request()

static torque_request_t zero_torque_request ( void )

static

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Variable Documentation

GEAR_RATIO

float GEAR_RATIO = 12.51f

staticconstexpr

INCHES_PER_MILE

float INCHES_PER_MILE = 63360.0f

staticconstexpr

INCHES_PER_MOTOR_REV

float INCHES_PER_MOTOR_REV = WHEEL_CIRCUMFERENCE_IN * OUTPUT_REV_PER_MOTOR_REV

staticconstexpr

MINUTES_PER_HOUR

float MINUTES_PER_HOUR = 60.0f

staticconstexpr

OUTPUT_REV_PER_MOTOR_REV

float OUTPUT_REV_PER_MOTOR_REV = 1.0f / GEAR_RATIO

staticconstexpr

RPM_TO_MPH

float RPM_TO_MPH = INCHES_PER_MOTOR_REV * MINUTES_PER_HOUR / INCHES_PER_MILE

staticconstexpr

WHEEL_CIRCUMFERENCE_IN

float WHEEL_CIRCUMFERENCE_IN = 2.0f * 3.14159f * WHEEL_RADIUS_IN

staticconstexpr

WHEEL_RADIUS_IN

float WHEEL_RADIUS_IN = 8.0f

staticconstexpr