From 13a3683c4a073a3829eff52df4d7a60ee3c6184d Mon Sep 17 00:00:00 2001
From: Mathewos Samson <mathos.brook@gmail.com>
Date: Thu, 11 Jul 2024 21:49:14 -0400
Subject: [PATCH] make max torque 200Nm

---
 include/parameters.hpp | 6 +++---
 src/inverter.cpp       | 2 ++
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/include/parameters.hpp b/include/parameters.hpp
index 1ef6ca4..73018d7 100644
--- a/include/parameters.hpp
+++ b/include/parameters.hpp
@@ -19,7 +19,7 @@
 #define D_KI 0.3
 #define D_KD 0.5
 #define D_OUTPUT_MIN 0.0 // Minimum output of the PID controller
-#define D_OUTPUT_MAX 1600 // Max output of the PID controller
+#define D_OUTPUT_MAX 2000 // Max output of the PID controller
 #define BANGBANG_RANGE 1000.0 
 #define PID_TIMESTEP 100.0
 #define PID_MODE false //enable cruise control
@@ -76,8 +76,8 @@ const double FILTERING_ALPHA_1HZ = 2 * 3.14 * cutoff_1hz / (1 + 2 * 3.14 * cutof
 // So it will overflow past a value of 255
 const uint8_t TORQUE_1 = 10; // 1st Torque setting
 const uint8_t TORQUE_2 = 54; //2nd torque setting
-const uint8_t TORQUE_3 = 110; //3rd torque setting
-const uint8_t TORQUE_4 = 160; //4th torque setting
+const uint8_t TORQUE_3 = 160; //3rd torque setting
+const uint8_t TORQUE_4 = 200; //4th torque setting
 // List of torque modes (Nm) 
 const int torque_mode_list[]={TORQUE_1,TORQUE_2,TORQUE_3,TORQUE_4};
 
diff --git a/src/inverter.cpp b/src/inverter.cpp
index f41f67d..ec24cbb 100644
--- a/src/inverter.cpp
+++ b/src/inverter.cpp
@@ -107,6 +107,7 @@ void Inverter::writeEnableNoTorque()
  */
 bool Inverter::command_torque(int16_t torque)
 {
+    uint16_t max_torque = TORQUE_4 * 10;
     // For now, this will not allow negative torque (regen)
     if (torque > (TORQUE_4 * 10))
     {
@@ -123,6 +124,7 @@ bool Inverter::command_torque(int16_t torque)
     uint8_t torqueCommand[] = {
         0, 0, angularVelocity1, angularVelocity2, emraxDirection, inverterEnable, 0, 0};
     memcpy(&torqueCommand[0], &torque, sizeof(torque));
+    memcpy(&torqueCommand[6],&max_torque, sizeof(max_torque));
     // Send torque command if timer has fired
     if (timer_motor_controller_send->check())
     {