I’m ready with my changes on
Tested on bench with all control types.
I added a last minute feature :
- ADDED : Traction control auto-disabling in case of fault on master, re-enable only if no effect on motors will happen (avoid weird behaviour exiting fault state on master).
Unfortunately, I can’t do the same on slave as it doesn’t send the fault over CAN (Could be great to use half of the spare slot in
CAN_PACKET_STATUS_5 for this, couldn’t be?)
However, looking at
app_nunchuk (WAND) if I want to apply the same relative command strategy (sending % instead of absolute current value), it would require to change the way the ramping is done (currently, ramping is done directly on current output instead of relative setpoint (%) like in
So, I’m not sure I want to touch this as it may lead to affect the remote behaviour for users and change ramping pos/neg parameters units (and default values).
app_adc, it’s already using relative current value.