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Merge branch 'feature/brake_current_fix' into RazorsFrozenTesting

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2020-03-27 21:24:49 -04:00
parent fb46103498 42b6effedd
commit c231928619
9 changed files with 20 additions and 8 deletions
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Firmware/MotorControl/low_level.cpp
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@@ -594,7 +594,11 @@ void update_brake_current() {
// Don't start braking until -Ibus > regen_current_allowed
float brake_current = std::max(-Ibus_sum - board_config.max_regen_current, 0.0f);
float brake_duty = std::max(brake_current * std::abs(board_config.brake_resistance) / vbus_voltage, 0.0f);
brake_duty = std::max((vbus_voltage - board_config.nominal_voltage) / (VBUS_OVERVOLTAGE_LEVEL/0.9f - board_config.nominal_voltage), brake_duty);
// Clamp the duty cycle
brake_duty = brake_duty < 0.0f ? 0.0f : (brake_duty > 0.9f ? 0.9f : brake_duty);
// Duty limit at 90% to allow bootstrap caps to charge
// If brake_duty is NaN, this expression will also evaluate to false
if ((brake_duty >= 0.0f) && (brake_duty <= 0.9f)) {