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Implement the Simple Vehicle Dynamics Interface in C++ #330

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Implement the Simple Vehicle Dynamics Interface in C++ #330

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1c6fba0
Calculate TC scale factor function
Tegh25 Dec 7, 2024
e9531d5
Re-implement tc_scale_factor with a smooth ramp
BlakeFreer Jan 6, 2025
7a9b38f
VD Interface project for building and testing
Tegh25 Jan 4, 2025
b5e83cc
fix: Clean up VD Project
BlakeFreer Jan 6, 2025
14a3284
Fix: Scale factor initializes to full torque at start up
Tegh25 Jan 8, 2025
5b6b7f5
Minor formatting and locality
Tegh25 Jan 13, 2025
cfc3a6b
Fix: Test cases use assert close
Tegh25 Jan 13, 2025
a42138e
Pedal torque lut specified as constructor parameter
Tegh25 Jan 13, 2025
7030816
Use structs for left right values of torque vector and motor torque
Tegh25 Jan 13, 2025
856e736
Calculate tv only when torque vectoring enabled
Tegh25 Jan 13, 2025
f581b39
Fix: Corrected test cases and formatting
Tegh25 Jan 13, 2025
49058e7
Updated motor torque and torque vector struct field names
Tegh25 Jan 14, 2025
c3140f9
Moved running average calculation to simp vd class
Tegh25 Jan 14, 2025
b0a1777
Update tvFactor test cases
Tegh25 Jan 14, 2025
3e5ba46
Minor comment change for specificity
Tegh25 Jan 14, 2025
f83f83e
Fix: Formatting
Tegh25 Jan 14, 2025
1017b3a
Merge branch 'user/atelieyt/vd-interface' of github.com:macformula/ra…
Tegh25 Jan 14, 2025
12890a6
Fixed clang formatting
Tegh25 Jan 14, 2025
ceacee9
Refactor calc actual slip and torque running avg
Tegh25 Jan 17, 2025
0436bb2
Refactor to running avg value to smoothed torque request
Tegh25 Jan 17, 2025
48d8911
Refactor torque vector value assignment
Tegh25 Jan 17, 2025
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Minor comment change for specificity 
Co-authored-by: Blake Freer <59676067+BlakeFreer@users.noreply.github.com>
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@Tegh25 @BlakeFreer
Tegh25 and BlakeFreer authored Jan 14, 2025
commit 3e5ba46094e208cbe3f5c740b2122c45a9593f71
2 changes: 1 addition & 1 deletion firmware/projects/VD_Interface/inc/simp_vd_interface.cc
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Expand Up @@ -13,7 +13,7 @@ VdOutput SimpVdInterface::update(const VdInput& input, int time_ms) {
VdOutput output{
.lm_torque_limit_positive = 0.0f,
.rm_torque_limit_positive = 0.0f,
.lm_torque_limit_negative = 0.0f, // negative limit fields set to
.lm_torque_limit_negative = 0.0f, // negative limit fields fixed at
.rm_torque_limit_negative = 0.0f, // 0 in simulink model
.left_motor_speed_request = 1000,
.right_motor_speed_request = 1000,
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