update pedal cals again BRUH

KSU-MS · Jun 9, 2024 · 4acf860 · 4acf860
1 parent 19a197e
commit 4acf860
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Showing 4 changed files with 15 additions and 15 deletions.
diff --git a/include/parameters.hpp b/include/parameters.hpp
@@ -39,16 +39,16 @@ const float FINAL_DRIVE = FRONT_SPROCKET_TEETH/REAR_SPROCKET_TEETH;
 #define MAX_BRAKE_PEDAL 3850
 
 #define MIN_ACCELERATOR_PEDAL_1 50    // Low accelerator implausibility threshold
-#define START_ACCELERATOR_PEDAL_1 1410  // Position to start acceleration
-#define END_ACCELERATOR_PEDAL_1 3250   // Position to max out acceleration
+#define START_ACCELERATOR_PEDAL_1 1277  // Position to start acceleration
+#define END_ACCELERATOR_PEDAL_1 3560   // Position to max out acceleration
 #define MAX_ACCELERATOR_PEDAL_1 4000    // High accelerator implausibility threshold
 
 #define MIN_ACCELERATOR_PEDAL_2 80   // Low accelerator implausibility threshold
-#define START_ACCELERATOR_PEDAL_2 970  // Position to start acceleration
-#define END_ACCELERATOR_PEDAL_2 2170    // Position to max out acceleration
+#define START_ACCELERATOR_PEDAL_2 880  // Position to start acceleration
+#define END_ACCELERATOR_PEDAL_2 2620    // Position to max out acceleration
 #define MAX_ACCELERATOR_PEDAL_2 3000    // High accelerator implausibility threshold
 
-#define APPS_ALLOWABLE_TRAVEL_DEVIATION 75 // % (percentage) allowable deviation of APPS1 and APPS2 travel readings
+#define APPS_ALLOWABLE_TRAVEL_DEVIATION 150 // % (percentage) allowable deviation of APPS1 and APPS2 travel readings
 
 #define REGEN_NM 60 
 #define BSPD_OK_HIGH_THRESHOLD 500 // ADC reading when BSPD is Latched (OK state)

diff --git a/src/inverter.cpp b/src/inverter.cpp
@@ -266,7 +266,7 @@ bool Inverter::calc_and_send_current_limit(uint16_t pack_voltage, uint32_t disch
     }
 #endif
     uint16_t charge_current_limit = min((charge_power_limit / pack_voltage), accumulator_max_charge_current);
-    if (timer_current_limit->check())
+    if (timer_current_limit->check() && (discharge_power_limit<80000))
     {
 #if DEBUG
         Serial.printf("discharge current limit: %d charge current limit: %d\n", discharge_current_limit, charge_current_limit);

diff --git a/src/pedal_handler.cpp b/src/pedal_handler.cpp
@@ -407,10 +407,10 @@ void PedalHandler::print_cal_values()
         a1 = accel1_>a1 ? accel1_:a1;
         a2 = accel2_>a2 ? accel2_:a2;
         b1 = brake1_>b1 ? brake1_:b1;
-        Serial.printf("maxes APPS1: %d APPS2: %d BSE1: %d\n",a1,a2,b1);
-        ma1 = accel1_<ma1 ? accel1_:ma1;
-        ma2 = accel2_<ma2 ? accel2_:ma2;
-        mb1 = brake1_<mb1 ? brake1_:mb1;
-        Serial.printf("mins APPS1: %d APPS2: %d BSE1: %d\n",ma1,ma2,mb1);
+        Serial.printf("maxes APPS1: %d APPS2: %d BSE1: %d\n",accel1_,accel2_,brake1_);
+        // ma1 = accel1_<ma1 ? accel1_:ma1;
+        // ma2 = accel2_<ma2 ? accel2_:ma2;
+        // mb1 = brake1_<mb1 ? brake1_:mb1;
+        // Serial.printf("mins APPS1: %d APPS2: %d BSE1: %d\n",ma1,ma2,mb1);
     }
 }
diff --git a/src/state_machine.cpp b/src/state_machine.cpp
@@ -177,7 +177,7 @@ void StateMachine::handle_state_machine(MCU_status &mcu_status)
                      static_cast<uint16_t>(distance_tracker_motor.capacity_ah * 100),
                      static_cast<uint16_t>(distance_tracker_vectornav.capacity_ah * 100)},
                     ID_VCU_COULOMB_COUNT);
-    if ((millis() - vectornav_data.last_update_time) <= 100)
+    if (false)
     {
       float vn_mock_ws = vectornav_data.mock_ws_rpm(); // Divide meters per second by circumference to get Revs per Second
       wheelSpeedData = {vn_mock_ws, vn_mock_ws, pm100->getmcMotorRPM() * FINAL_DRIVE, pm100->getmcMotorRPM() * FINAL_DRIVE};
@@ -501,7 +501,7 @@ void StateMachine::handle_state_machine(MCU_status &mcu_status)
         {
           dash_->set_button_last_pressed_time(0, 6);
         }
-        if (_20hz_send)
+        if (_100hz_send)
         {
           lc_countdown_t countdown_t;
           countdown_t.release_countdown = dash_->get_button_last_pressed_time(6);
@@ -517,7 +517,7 @@ void StateMachine::handle_state_machine(MCU_status &mcu_status)
           lcSystem->getController()->setState(launchState::FINISHED, millis());
           break;
         }
-        if ((millis() - vectornav_data.last_update_time) <= 100)
+        if (false)
         {
           float vn_mock_ws = vectornav_data.mock_ws_rpm(); // Divide meters per second by circumference to get Revs per Second
           wheelSpeedData = {vn_mock_ws, vn_mock_ws, pm100->getmcMotorRPM() * FINAL_DRIVE, pm100->getmcMotorRPM() * FINAL_DRIVE};
@@ -543,7 +543,7 @@ void StateMachine::handle_state_machine(MCU_status &mcu_status)
       }
       }
     }
-    if ((millis() - vectornav_data.last_update_time) <= 100)
+    if (false)
     {
       float vn_mock_ws = vectornav_data.mock_ws_rpm(); // Divide meters per second by circumference to get Revs per Second
       wheelSpeedData = {vn_mock_ws, vn_mock_ws, pm100->getmcMotorRPM() * FINAL_DRIVE, pm100->getmcMotorRPM() * FINAL_DRIVE};