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Check for reversemotor and multiply by direction #115

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Oct 2, 2024
Merged

Check for reversemotor and multiply by direction #115

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27 changes: 21 additions & 6 deletions src/stm32_vcu.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -506,7 +506,7 @@ static void Ms10Task(void)

selectedChargeInt->Task10Ms();

if (Param::GetInt(Param::opmode) == MOD_RUN)
if (Param::GetInt(Param::opmode) == MOD_RUN) //!!!THROTTLE CODE HERE//
{
torquePercent = utils::ProcessThrottle(ABS(previousSpeed)); //run the throttle reading and checks and then generate Potnom

Expand Down Expand Up @@ -547,14 +547,29 @@ static void Ms10Task(void)
selectedInverter->SetTorque(torquePercent);

//Brake light based on regen being below the set threshold
if(torquePercent < Param::GetFloat(Param::RegenBrakeLight))
if(Param::GetInt(Param::reversemotor) == 0)
{
//enable Brake Light Ouput
IOMatrix::GetPin(IOMatrix::BRAKELIGHT)->Set();
if((torquePercent * requestedDirection) < Param::GetFloat(Param::RegenBrakeLight))//if reverse we flip signs of torque, so multiply by direction- reverse is -1
{
//enable Brake Light Ouput
IOMatrix::GetPin(IOMatrix::BRAKELIGHT)->Set();
}
else
{
IOMatrix::GetPin(IOMatrix::BRAKELIGHT)->Clear();
}
}
else
else //Motor torques flipped so need to flip again
{
IOMatrix::GetPin(IOMatrix::BRAKELIGHT)->Clear();
if((torquePercent * requestedDirection * -1) < Param::GetFloat(Param::RegenBrakeLight))//if reverse we flip signs of torque, so multiply by direction- reverse is -1, reversed again for MotRev
{
//enable Brake Light Ouput
IOMatrix::GetPin(IOMatrix::BRAKELIGHT)->Set();
}
else
{
IOMatrix::GetPin(IOMatrix::BRAKELIGHT)->Clear();
}
}

//speed = ABS(selectedInverter->GetMotorSpeed());//set motor rpm on interface NO ABS allowed on speed as we need to know direction
Expand Down