PR to Merge in Launch Control, PID, Hashtable, and globalConstants files#185
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PR to Merge in Launch Control, PID, Hashtable, and globalConstants files#185
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Most of the calculations should be in nM for simplicity sake, the nM--> decinM conversion should be done as the last step, to ensure readability/
…ake a saturation value instead of setpoint on initialization bc the setpoint is updated every cycle anyways, and removing the separate pl pid struct
… forced TQ equation override. LUT still gives bad values. Bug fix to anti-windup measures. and the dbc has been updated to expect N-m outputs from the pid and deciN-m commandedTorque
…ommenting or defining of code. also, changing a function name to give better clarity to the caller of the function. Finally, plpPID added back in, with a hopefully redundant clamp on the Torque request.
…tial for a multiply by 0 call which would massively derail the incomplete factorization of the double linear interpolation equation.
…ndition checks for launch control
… for unreasonable precision, or 10^-3 for a more reasonable amount of digits beyond the decimal point. Saving before changing branches.
…ndition checks for launch control
… for unreasonable precision, or 10^-3 for a more reasonable amount of digits beyond the decimal point. Saving before changing branches.
… conversion issue-essentially turning the equation into -> 0*1000=0
…get about it. Also, taking the time to fix up some comments, improving whitespace for readability, and moving the Nm -> DNm conversion from Launch Control into MCM for readability purposes.
…for this exact thing
…ngelectric/VCU into SR-16_Launch_Control
…ilures, with reported redefinitions in canManager, launch control, and other files. Will investigate some other time
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Launch Control is disabled with an #ifdef, can be reversed by uncommenting a line in global Constants.h at the end of the file
Also adding in very old power limiting changes and disabling the system since it doesn't work.