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decrease freewheel breaking

This commit is contained in:
interfisch 2024-08-27 08:13:17 +02:00
parent f09919ca62
commit 5a1734f181
1 changed files with 2 additions and 2 deletions
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controller_teensy/include/definitions.h
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@ -106,9 +106,9 @@ int16_t max_acceleration_rate=NORMAL_MAX_ACCELERATION_RATE; //maximum cmd send i
//Driving parameters //Driving parameters
int16_t minimum_constant_cmd_reduce=1; //reduce cmd every loop by this constant amount when freewheeling/braking 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) 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 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 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] int16_t throttle_max=1000; //maximum allowed set speed. used for scaling and limiting. [0,1000]