reduce startbreakcurrent
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@ -486,7 +486,7 @@ void sendCMD() {
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#define MINIMUM_CONSTANT_CMD_REDUCE 1 //reduce cmd every loop by this constant amount when freewheeling/braking
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#define BREAK_CMDREDUCE_PROPORTIONAL 100 //cmd gets reduced by an amount proportional to brake position (ignores freewheeling). cmd_new-=BREAK_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)
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int16_t cmdreduce_constant=map(brake_pos,0,1000,0,(int16_t)(BREAK_CMDREDUCE_PROPORTIONAL*SENDPERIOD/1000)); //reduce cmd value every cycle
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#define STARTBREAKCURRENT 5 //Ampere. at what point to start apply brake proportional to brake_pos. for everything above that cmd is reduced by freewheel_break_factor
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#define STARTBREAKCURRENT 3 //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
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#define STARTBREAKCURRENT_OFFSET 0.1 //offset start point for breaking, because of reading fluctuations around 0A. set this slightly above idle current reading
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float brakepedal_current_multiplier=STARTBREAKCURRENT/1000.0; //how much breaking (in Ampere) for unit of brake_pos (0<=brake_pos<=1000)
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