Pedal.hpp File Reference

Declaration of the Pedal class for handling throttle and brake pedal inputs. More...

#include <stdint.h>
#include "CarState.hpp"
#include "Interp.hpp"
#include "Curves.hpp"
#include "SignalProcessing.hpp"
#include <mcp2515.h>

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Classes
class	Pedal
	Pedal class for managing throttle and brake pedal inputs. Handles filtering, fault detection, and CAN frame updates. More...

Namespaces
namespace	PedalConstants
	Namespace for pedal-related constants, such as thresholds and calculation parameters. This is to avoid polluting the Pedal class with intermediate results.

Variables
constexpr bool	REGEN_ENABLED = true
constexpr bool	FLIP_MOTOR_DIR = false
constexpr bool	BRAKE_RELIABLE = true
constexpr uint16_t	FAULT_CHECK_HEX = BRAKE_RELIABLE ? 0xFE : 0x3E
constexpr uint32_t	MAX_MOTOR_READ_MILLIS = 100
constexpr uint8_t	PedalConstants::MIN_REGEN_KMH = 10
constexpr uint8_t	PedalConstants::GEAR_RATIO_NUMERATOR = 60
constexpr uint8_t	PedalConstants::GEAR_RATIO_DENOMINATOR = 13
constexpr uint8_t	PedalConstants::WHEEL_DIAMETER_INCH = 13
constexpr uint16_t	PedalConstants::MAX_MOTOR_RPM = 7000
constexpr uint16_t	PedalConstants::MAX_TORQUE_VAL = 32767
constexpr uint16_t	PedalConstants::INCH_PER_KM = 39370
constexpr uint8_t	PedalConstants::MINUTES_PER_HOUR = 60
constexpr double	PedalConstants::PI_ = 3.1415926535897932384626433832795
constexpr int16_t	PedalConstants::MIN_REGEN_RPM_VAL
constexpr uint8_t	ADC_BUFFER_SIZE = 16

Detailed Description

Declaration of the Pedal class for handling throttle and brake pedal inputs.

Author

Planeson, Red Bird Racing

Version

1.6

Date

2026-02-12

See also

Pedal.cpp

Definition in file Pedal.hpp.

Variable Documentation

ADC_BUFFER_SIZE

constexpr uint8_t ADC_BUFFER_SIZE = 16

constexpr

Size of the ADC reading buffer for filtering.

Definition at line 61 of file Pedal.hpp.

BRAKE_RELIABLE

constexpr bool BRAKE_RELIABLE = true

constexpr

brake assumed reliable; enable checking of min/max (narrow range); set to false compromises safety!

Definition at line 32 of file Pedal.hpp.

FAULT_CHECK_HEX

constexpr uint16_t FAULT_CHECK_HEX = BRAKE_RELIABLE ? 0xFE : 0x3E

constexpr

Hex mask for fault checking based on brake reliability.

Definition at line 34 of file Pedal.hpp.

Referenced by Pedal::update().

FLIP_MOTOR_DIR

constexpr bool FLIP_MOTOR_DIR = false

constexpr

Boolean toggle to flip motor direction; true inverts torque commands.

Definition at line 30 of file Pedal.hpp.

Referenced by Pedal::sendFrame().

MAX_MOTOR_READ_MILLIS

constexpr uint32_t MAX_MOTOR_READ_MILLIS = 100

constexpr

Maximum time in milliseconds between motor data reads before disabling regen.

Definition at line 36 of file Pedal.hpp.

Referenced by Pedal::readMotor().

REGEN_ENABLED

constexpr bool REGEN_ENABLED = true

constexpr

Boolean toggle for regenerative braking; false disables reverse torque.

Definition at line 28 of file Pedal.hpp.

Referenced by Pedal::pedalTorqueMapping().