Feedforward power limiting - #1992
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Lucien950
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May 4, 2026
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maybe put the humungous table into cpp file so that every single hpp which includes this is not immediately ddosd
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also do double check that we do have the flash memory to be able to do this
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this is very true will do
Aditya-Dhiman4
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May 5, 2026
| static constexpr float SPEED_MAX_RPM = 20000.0f; | ||
| static constexpr float CURRENT_MAX_A = 105.0f; | ||
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| static constexpr float RPM_TO_RAD_PER_SEC = (2.0f * 3.14159265358979323846f) / 60.0f; |
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we have a M_PI_F macro somewhere
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Change List
init()once at startup,update()every control cycle. Takes per-wheel (speed, torque, temperature, measured current) and outputs per-wheel (speed command, positive torque limit, negative torque limit). Assumes arrays are monotonically increasing. The feedback term trims the scaling factor and accounts for steady state drift and bias.Known Limitations