From 5a1734f181efdb739cbf2b91be41770576e970e5 Mon Sep 17 00:00:00 2001 From: Fisch Date: Tue, 27 Aug 2024 08:13:17 +0200 Subject: [PATCH] decrease freewheel breaking --- controller_teensy/include/definitions.h | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/controller_teensy/include/definitions.h b/controller_teensy/include/definitions.h index cc91fd5..7119f19 100644 --- a/controller_teensy/include/definitions.h +++ b/controller_teensy/include/definitions.h @@ -106,9 +106,9 @@ int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send i //Driving parameters int16_t minimum_constant_cmd_reduce=1; //reduce cmd every loop by this constant amount when freewheeling/braking int16_t brake_cmdreduce_proportional=500; //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=brake_cmdreduce_proportional / second @ full brake. with BREAK_CMDREDUCE_CONSTANT=1000 car would stop with full brake at least after a second (ignoring influence of brake current control/freewheeling) -float startbrakecurrent=2; //Ampere. "targeted brake current @full brake". at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor +float startbrakecurrent=2.0; //Ampere. "targeted brake current @full brake". at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor float startbrakecurrent_offset=0.13; //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading -float freewheel_break_factor=500.0; //speed cmd units per amp per second. 1A over freewheel_current decreases cmd speed by this amount (on average) +float freewheel_break_factor=200.0; //speed cmd units per amp per second. 1A over freewheel_current decreases cmd speed by this amount (on average). Was 500 until 20240809 float reverse_speed=0.25; //reverse driving speed //0 to 1 int16_t throttle_max=1000; //maximum allowed set speed. used for scaling and limiting. [0,1000]