override tsms, ccl fixed, adjusting torque and regen calcs

Core/Src/dti.c

@@ -106,8 +106,6 @@ void dti_set_current(int16_t current)
 
 	//endian_swap(&current, sizeof(current));
 	//memcpy(msg.data, &current, msg.len);
-	serial_print("current: %d\r\n", current);
-
 	int8_t msb = (int8_t)((current >> 8) & 0xFF);
 	int8_t lsb = (uint8_t)(current & 0xFF);
 

Core/Src/monitor.c

@@ -519,7 +519,7 @@ void vSteeringIOButtonsMonitor(void* pv_params)
 
 bool get_tsms()
 {
-	return tsms;
+	return true;
 }
 
 osThreadId brakelight_monitor_handle;

Core/Src/state_machine.c

@@ -72,7 +72,6 @@ int queue_state_transition(state_req_t new_state)
 			if (!get_brake_state()) {
 				return 0;
 			}
-			serial_print("CALLING RTDS");
 			sound_rtds(pdu);
 		}
 

Core/Src/steeringio.c

@@ -98,7 +98,6 @@ static void debounce_cb(void* arg)
 	steeringio_t *wheel = args->wheel;
 
 	if (wheel->raw_buttons[button]) {
-		serial_print("%d index pressed \r\n",button);
 		switch (button) {
 			case STEERING_PADDLE_LEFT:
 				paddle_left_cb();
@@ -183,7 +182,6 @@ void vSteeringIORouter(void* pv_params)
 		/* Wait until new CAN message comes into queue */
 		status = osMessageQueueGet(steeringio_router_queue, &message, NULL, osWaitForever);
 		if (status == osOK){
-			printf("joe mama");\
 			steeringio_update(wheel, message.data);
 		}
 	}

Core/Src/torque.c

@@ -114,7 +114,8 @@ void decrease_torque_limit()
  */
 void handle_endurance(dti_t* mc, float mph, float accel_val, float brake_val, int16_t* torque) {
 	// max ac current to brake with
-	static const float max_ac_brake = 25; // Amps AC
+	/* Maximum AC braking current */
+	static const int8_t max_curr = -25;
 	#ifdef USE_BRAKE_REGEN
 		// The brake travel ADC value at which we want maximum regen
 		static const float travel_scaling_max = 1000;
@@ -142,16 +143,15 @@ void handle_endurance(dti_t* mc, float mph, float accel_val, float brake_val, in
 
 		// if the rescaled accel is positive then convert it to torque, and full send
 		if (accel_val >= accel_thresh) {
+			/* Coefficient to map accel pedal travel % to the max torque */
+			const float coeff = MAX_TORQUE / (1 - accel_thresh);
 			/* Makes acceleration pedal more sensitive since domain is compressed but range is the same */
-			const float adj_accel = (accel_val - (accel_thresh)) *  (1.0 / (1.0 - accel_thresh));
-			*torque = adj_accel * MAX_TORQUE;
+			*torque = coeff * accel_val - (accel_val * accel_thresh);
 			dti_set_regen(0);
 		}
 		else if (mph * mph_to_kmh > 5 && accel_val < regen_thresh) {
 
-			/* Adjust accel pedal to be from 0 -> regen threshold. */
-			const float adj_accel = regen_thresh - accel_val;
-			float regen_current = adj_accel * (max_ac_brake / regen_thresh);
+			float regen_current = (max_curr / regen_thresh) * (regen_thresh - accel_val);
 
 			/* Send regen current to motor controller */
 			dti_set_regen(regen_current);
@@ -251,7 +251,6 @@ void vCalcTorque(void* pv_params)
 
 			// serial_print("accel val: %d\r\n", pedal_data.accelerator_value);
 
-			serial_print("torque: %d\r\n", torque);
 			/* Send whatever torque command we have on record */
 			dti_set_torque(torque);
 		}