Merge branch 'main' into testing

include/parameters.hpp

@@ -19,7 +19,7 @@
 #define D_KI 0.3
 #define D_KD 0.5
 #define D_OUTPUT_MIN 0.0 // Minimum output of the PID controller
-#define D_OUTPUT_MAX 2400 // Max output of the PID controller
+#define D_OUTPUT_MAX 1600 // Max output of the PID controller
 #define BANGBANG_RANGE 1000.0 
 #define PID_TIMESTEP 100.0
 #define PID_MODE false //enable cruise control
@@ -75,9 +75,9 @@ const double FILTERING_ALPHA_1HZ = 2 * 3.14 * cutoff_1hz / (1 + 2 * 3.14 * cutof
 // Note that the variable max_torque is uin8_t
 // So it will overflow past a value of 255
 const uint8_t TORQUE_1 = 10; // 1st Torque setting
-const uint8_t TORQUE_2 = 120; //2nd torque setting
-const uint8_t TORQUE_3 = 180; //3rd torque setting
-const uint8_t TORQUE_4 = 240; //4th torque setting
+const uint8_t TORQUE_2 = 54; //2nd torque setting
+const uint8_t TORQUE_3 = 110; //3rd torque setting
+const uint8_t TORQUE_4 = 160; //4th torque setting
 // List of torque modes (Nm) 
 const int torque_mode_list[]={TORQUE_1,TORQUE_2,TORQUE_3,TORQUE_4};
 

src/main.cpp

@@ -129,7 +129,7 @@ void setup()
     }
     Serial.printf("Last torque mode (from EEPROM: %d)\n",last_mode);
     mcu_status.set_torque_mode(last_mode);         // TODO torque modes should be an enum
-    mcu_status.set_max_torque(torque_mode_list[last_mode-1]);   // TORQUE_1=60nm, 2=120nm, 3=180nm, 4=240nm
+    mcu_status.set_max_torque(torque_mode_list[last_mode-1]);   // TORQUE_1=10nm, 2=54nm, 3=180nm, 4=240nm
     state_machine.init_state_machine(mcu_status);
 }