pedal_lut.h

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#ifndef _DBW_FCA_CAN_PEDAL_LUT_H
#define _DBW_FCA_CAN_PEDAL_LUT_H
#include <math.h>
 
namespace dbw_fca_can
{
 
static const struct {float pedal; float torque;} BRAKE_TABLE[] = {
// Duty,   Nm
 {0.150,    0},
 {0.166,    0},
 {0.168,    4},
 {0.200,   56},
 {0.225,  194},
 {0.250,  456},
 {0.300, 1312},
 {0.350, 2352},
 {0.400, 3716},
 {0.434, 4740},
 {0.566, 6888},
 {0.600, 6888},
};
static const struct {float pedal; float percent;} THROTTLE_TABLE[] = {
// Duty,   %
 {0.080, 0.000},
 {0.114, 0.001},
 {0.497, 0.500},
 {0.890, 0.998},
 {0.892, 1.000},
};
static inline float brakeTorqueFromPedal(float pedal) {
  const unsigned int size = sizeof(BRAKE_TABLE) / sizeof(BRAKE_TABLE[0]);
  if (pedal <= BRAKE_TABLE[0].pedal) {
    return BRAKE_TABLE[0].torque;
  } else if (pedal >= BRAKE_TABLE[size - 1].pedal) {
    return BRAKE_TABLE[size - 1].torque;
  } else {
    for (unsigned int i = 1; i < size; i++) {
      if (pedal < BRAKE_TABLE[i].pedal) {
        float start = BRAKE_TABLE[i - 1].torque;
        float dinput = pedal - BRAKE_TABLE[i - 1].pedal;
        float dtorque = BRAKE_TABLE[i].torque - BRAKE_TABLE[i - 1].torque;
        float dpedal = BRAKE_TABLE[i].pedal - BRAKE_TABLE[i - 1].pedal;
        if (fabsf(dpedal) > (float)1e-6) {
          return start + (dinput * dtorque / dpedal);
        } else {
          return start + (dtorque / 2);
        }
      }
    }
  }
  return 0.0;
}
static inline float brakePedalFromTorque(float torque) {
  const unsigned int size = sizeof(BRAKE_TABLE) / sizeof(BRAKE_TABLE[0]);
  if (torque <= BRAKE_TABLE[0].torque) {
    return BRAKE_TABLE[0].pedal;
  } else if (torque >= BRAKE_TABLE[size - 1].torque) {
    return BRAKE_TABLE[size - 1].pedal;
  } else {
    for (unsigned int i = 1; i < size; i++) {
      if (torque < BRAKE_TABLE[i].torque) {
        float start = BRAKE_TABLE[i - 1].pedal;
        float dinput = torque - BRAKE_TABLE[i - 1].torque;
        float dpedal = BRAKE_TABLE[i].pedal - BRAKE_TABLE[i - 1].pedal;
        float dtorque = BRAKE_TABLE[i].torque - BRAKE_TABLE[i - 1].torque;
        if (fabsf(dtorque) > (float)1e-6) {
          return start + (dinput * dpedal / dtorque);
        } else {
          return start + (dpedal / 2);
        }
      }
    }
  }
  return 0.0;
}
static inline float brakePedalFromPercent(float percent) {
  return brakePedalFromTorque(percent * 5000.0);
  return brakePedalFromTorque(percent * BRAKE_TABLE[sizeof(BRAKE_TABLE) / sizeof(BRAKE_TABLE[0]) - 1].torque);
}
static inline float throttlePedalFromPercent(float percent) {
  const unsigned int size = sizeof(THROTTLE_TABLE) / sizeof(THROTTLE_TABLE[0]);
  if (percent <= THROTTLE_TABLE[0].percent) {
    return THROTTLE_TABLE[0].pedal;
  } else if (percent >= THROTTLE_TABLE[size - 1].percent) {
    return THROTTLE_TABLE[size - 1].pedal;
  } else {
    for (unsigned int i = 1; i < size; i++) {
      if (percent < THROTTLE_TABLE[i].percent) {
        float start = THROTTLE_TABLE[i - 1].pedal;
        float dinput = percent - THROTTLE_TABLE[i - 1].percent;
        float dpedal = THROTTLE_TABLE[i].pedal - THROTTLE_TABLE[i - 1].pedal;
        float dpercent = THROTTLE_TABLE[i].percent - THROTTLE_TABLE[i - 1].percent;
        if (fabsf(dpercent) > (float)1e-6) {
          return start + (dinput * dpedal / dpercent);
        } else {
          return start + (dpedal / 2);
        }
      }
    }
  }
  return 0.0;
}
 
static inline float throttlePercentFromPedal(float pedal) {
  const unsigned int size = sizeof(THROTTLE_TABLE) / sizeof(THROTTLE_TABLE[0]);
  if (pedal <= THROTTLE_TABLE[0].pedal) {
    return THROTTLE_TABLE[0].percent;
  } else if (pedal >= THROTTLE_TABLE[size - 1].pedal) {
    return THROTTLE_TABLE[size - 1].percent;
  } else {
    for (unsigned int i = 1; i < size; i++) {
      if (pedal < THROTTLE_TABLE[i].pedal) {
        float start = THROTTLE_TABLE[i - 1].percent;
        float dinput = pedal - THROTTLE_TABLE[i - 1].pedal;
        float dpercent = THROTTLE_TABLE[i].percent - THROTTLE_TABLE[i - 1].percent;
        float dpedal = THROTTLE_TABLE[i].pedal - THROTTLE_TABLE[i - 1].pedal;
        if (fabsf(dpedal) > (float) 1e-6) {
          return start + (dinput * dpercent / dpedal);
        } else {
          return start + (dpercent / 2);
        }
      }
    }
  }
  return 0.0;
}
 
} // namespace dbw_fca_can
 
#endif // _DBW_FCA_CAN_PEDAL_LUT_H