Pedal to torque

Core/Inc/dti.h

@@ -27,7 +27,7 @@
 	0x496 /* Throttle signal, Brake signal, IO, Drive enable */
 
 #define TIRE_DIAMETER 16 /* inches */
-#define GEAR_RATIO    47 / 13.0 /* unitless */
+#define GEAR_RATIO    35 / 13.0 /* unitless */
 #define POLE_PAIRS    10 /* unitless */
 
 typedef struct {

Core/Inc/emrax.h

@@ -18,7 +18,7 @@
 #define EMRAX_NOMINAL_VOLTAGE  520 /* V */
 #define EMRAX_PEAK_EFFICIENCY  90 /* % */
 #define EMRAX_PEAK_POWER       124 /* kW, at 5500 RPM */
-#define EMRAX_PEAK_TORQUE      230 /* Nm */
+#define EMRAX_PEAK_TORQUE      220 /* Nm */
 #define EMRAX_CONT_TORQUE      112 /* Nm */
 #define EMRAX_LIMITING_SPEED   6500 /* RPM */
 #define EMRAX_KV	       15.53

Core/Src/pedals.c

@@ -37,6 +37,9 @@ float torque_limit_percentage = 1.0;
 #define PEDAL_DIFF_THRESH 30
 #define PEDAL_FAULT_TIME  500 /* ms */
 
+/* Alterante pedal mode */
+//#define POWER_REGRESSION_PEDAL_TORQUE_TRANSFER
+
 static bool brake_state = false;
 osMutexId_t brake_mutex;
 
@@ -216,6 +219,7 @@ bool calc_bspd_prefault(float accel_val, float brake_val)
 	return motor_disabled;
 }
 
+#ifndef POWER_REGRESSION_PEDAL_TORQUE_TRANSFER
 static void linear_accel_to_torque(float accel)
 {
 	/* Sometimes, the pedal travel jumps to 1% even if it is not pressed. */
@@ -228,6 +232,22 @@ static void linear_accel_to_torque(float accel)
 	dti_set_torque(torque);
 }
 
+#else
+static void power_regression_accel_to_torque(float accel)
+{
+	/* Sometimes, the pedal travel jumps to 1% even if it is not pressed. */
+	if (fabs(accel - 0.01) < 0.001) {
+		accel = 0;
+	}
+	/*  map acceleration to torque */
+	int16_t torque =
+		(int16_t)(0.137609 * powf(accel, 1.43068) * MAX_TORQUE);
+	/* These values came from creating a power regression function intersecting three points: (0,0) (20,10) & (100,100)*/
+
+	dti_set_torque(torque);
+}
+#endif
+
 /**
  * @brief Derate torque target to keep car below the maximum pit/reverse mode speed.
  * 
@@ -459,7 +479,11 @@ void vProcessPedals(void *pv_params)
 			handle_endurance(mc, mph, accelerator_value, brake_val);
 			break;
 		case F_PERFORMANCE:
+#ifndef POWER_REGRESSION_PEDAL_TORQUE_TRANSFER
 			linear_accel_to_torque(accelerator_value);
+#else
+			power_regression_accel_to_torque(accelerator_value);
+#endif
 			break;
 		case F_PIT:
 			handle_pit(mph, accelerator_value);