config.h

#pragma once

/*
 * HRD05 PEDALBOX CONFIGURATION
 */

// CAN BUS
const int DATA_RATE = 20;                       // Update CAN and sensor readings every x ms 
const int CAN_TIMEOUT = 120;                    // (@rule T 11.9.2 - MAX: 500ms) System goes into safe state once the timeout is reached. 

// SIGNALS
#define BUZZER 5                                // Pin: Ready To Drive Sound output
#define APPS1_IN A0                             // Pin: Accelerator pedal sensor #1
#define APPS2_IN A1                             // Pin: Accelerator pedal sensor #2
#define BPS1_IN A2                              // Pin: Accelerator pedal sensor #1
#define BPS2_IN A3                              // Pin: Accelerator pedal sensor #2
#define SENSOR_FILTER_SAMPLES 12                // Number of samples for the moving average filter

// PEDAL TUNING
unsigned int POT_OFFSET = 100;                  // The physical offset difference between the sensors, 0-1023
unsigned int POT_MAX_ERROR = 50;                // Maximum difference between sensors. Should not be more than 10% of 0-1023 (~100)
unsigned int POT_DEADZONE = 20;                 // Minimum pedal position to activate torque, 0-1023

// INVERTER / MOTOR SETUP
const bool ENABLE_REGENERATIVE_BRAKING = false; // Enable the inverter to use the motor's back-emf to recuperate energy (sent back to the accumulator).
const int MIN_SPEED = 58;                       // Pre-calculated motor RPM where the vehicle has a speed of about <5 km/h
const int MAX_RPM = 10000;                      // Maximum RPM of the motor
const int MAX_TORQUE = 33.0f;                   // Maximum torque request in Nm
const int MAX_BRAKE = 33.0f;                    // Maximum braking torque request in Nm. Note: regeneration is not actually used (final request to inverter is 0)