this might work? also updated final drive

include/parameters.hpp

@@ -28,8 +28,8 @@
 const unsigned long LAUNCHCONTROL_RELEASE_DELAY = 1500;
 #define WHEELSPEED_TOOTH_COUNT 18 // Wheel Speed sensor tooth coutn
 const float WHEEL_CIRCUMFERENCE  = 0.229*PI*2;
-const float FRONT_SPROCKET_TEETH = 10;
-const float REAR_SPROCKET_TEETH = 29;
+const float FRONT_SPROCKET_TEETH = 16; // Updated 5/29/24 for 228hv
+const float REAR_SPROCKET_TEETH = 29; // Updated 5/29/24 for 228hv
 const float FINAL_DRIVE = FRONT_SPROCKET_TEETH/REAR_SPROCKET_TEETH; 
 #define RPM_TIMEOUT 1000 // Timeout for wheel speed RPM to reset to 0
 #define MIN_BRAKE_PEDAL 400           // ~0.5v, set on 2-29-2024

include/tc_system.h

@@ -9,7 +9,7 @@
 class torque_control_system
 {
 public:
-    torque_control_system(std::initializer_list<torque_control_types_e> enabledTypes = {torque_control_types_e::TC_DRIVERCONTROL, torque_control_types_e::TC_PID, torque_control_types_e::TC_TimeSlip})
+    torque_control_system(std::initializer_list<torque_control_types_e> enabledTypes = {torque_control_types_e::TC_DRIVERCONTROL, torque_control_types_e::TC_PID, torque_control_types_e::TC_SlipTime})
     {
         for (auto type : enabledTypes)
         {
@@ -34,13 +34,13 @@ class torque_control_system
     torque_control_types_e tcType = torque_control_types_e::TC_DRIVERCONTROL;
     torque_controller tc_base;
     torque_controllerPID tc_pid = torque_controllerPID(1.0, 0, 0);
-    torque_controllerTimeSlip tc_timeslip;
+    torque_controllerSlipTime tc_sliptime;
 
     // This map should contain ALL types
     std::unordered_map<torque_control_types_e, void *> tc_map = {
         {torque_control_types_e::TC_DRIVERCONTROL, &tc_base},
         {torque_control_types_e::TC_PID, &tc_pid},
-        {torque_control_types_e::TC_TimeSlip, &tc_timeslip}};
+        {torque_control_types_e::TC_SlipTime, &tc_sliptime}};
 
     // This map will only have enabled types
     std::unordered_map<torque_control_types_e, void *> enabled_tc_map;

include/torque_controller.hpp

@@ -104,19 +104,15 @@ class torque_controllerSlipTime : public torque_controller
     const double tireSlipHigh = 0.05; // Slip threshold
     unsigned long _lastSlip = 0; // Time slip began
     unsigned long slip_dT = 0; // Time delta since slip first began
+    double slipTime = 0; // Slip * time, the x axis
     bool slipActive = false; // Flag to indicate if slip is active
-    static const int numPoints = 5; // Number of data points
-    double xSlipTime[numPoints] = {10, 20, 30, 40, 50}; // x-coordinates of data points
-    double yTorqueRTD[numPoints] = {0.0, 0.5, 0.6, 0.2, 0.0}; // y-coordinates of data points
+    static const int numPoints = 6; // Number of data points
+    double yTorqueRTD[numPoints] = {10, 20, 30, 50, 80, 160}; // TQ in Nm to reduce the output by
+    double xSlipTime[numPoints] = {50, 100, 200, 400, 600, 1000}; // SlipTime, is % slip * time (ms) 
     double slopes[numPoints]; // Slopes at each point for interpolation
     double outputTorqueRTD = 0; // Torque Retard due to controller
-    double slipTime = 0;
-
-
 public:
     int16_t calculate_torque(unsigned long elapsedTime, int16_t maxTorque, wheelSpeeds_s &wheelSpeedData);
     torque_control_types_e getType() {return torque_control_types_e::TC_SlipTime;}
-
-
 };
 #endif

src/tc_system.cpp

@@ -39,9 +39,9 @@ void torque_control_system::printControllerType()
             printf("Controller type is tc_PID");
             break;
         }
-        case (torque_control_types_e::TC_TimeSlip):
+        case (torque_control_types_e::TC_SlipTime):
         {
-            printf("Controller type is tc_TimeSlip");
+            printf("Controller type is tc_SlipTime");
             break;
         }
         case (torque_control_types_e::TC_NUM_CONTROLLERS):

src/torque_controller.cpp

@@ -91,7 +91,6 @@ int16_t torque_controllerSlipTime::calculate_torque(unsigned long elapsedTime, i
         slipActive = false; // Catch all, should disable whenever slip ratio falls below threshold and slip active was true
     }
 
-
     // Check bounds
     if (slipTime < xSlipTime[0] || slipTime > xSlipTime[numPoints - 1]) {
         Serial.println("slipTime out of bounds");
@@ -110,6 +109,7 @@ int16_t torque_controllerSlipTime::calculate_torque(unsigned long elapsedTime, i
         outputTorqueRTD = yTorqueRTD[numPoints - 1];
     }
 
+    // Limit torque outputs like normal
     torqueOut = outputTorqueRTD;
     lcTorqueRequest = static_cast<int16_t>(torqueOut); // Pre clamping
     if (torqueOut > maxTorque)
@@ -121,7 +121,6 @@ int16_t torque_controllerSlipTime::calculate_torque(unsigned long elapsedTime, i
         torqueOut = 0;
     }
 
-
     outputTorqueCommand = static_cast<int16_t>(torqueOut); // Post-clamping
     return outputTorqueCommand;  
 }