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Update capacitor decision logic. #243

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merged 2 commits into from
Oct 12, 2024
Merged

Update capacitor decision logic. #243

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916b224
Update capacitor decision logic.
chen-gr Oct 11, 2024
0ddae70
Merge branch 'rm-controls:master' into new_cap
chen-gr Oct 11, 2024
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5 changes: 4 additions & 1 deletion rm_common/include/rm_common/decision/power_limit.h
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Original file line number Diff line number Diff line change
Expand Up @@ -66,6 +66,8 @@ class PowerLimit
ROS_ERROR("power gain no defined (namespace: %s)", nh.getNamespace().c_str());
if (!nh.getParam("buffer_threshold", buffer_threshold_))
ROS_ERROR("buffer threshold no defined (namespace: %s)", nh.getNamespace().c_str());
if (!nh.getParam("is_new_capacitor", is_new_capacitor_))
ROS_ERROR("is_new_capacitor no defined (namespace: %s)", nh.getNamespace().c_str());
}
typedef enum
{
Expand Down Expand Up @@ -124,7 +126,7 @@ class PowerLimit
chassis_cmd.power_limit = burst_power_;
else
{
switch (cap_state_)
switch (is_new_capacitor_ ? expect_state_ : cap_state_)
{
case NORMAL:
normal(chassis_cmd);
Expand Down Expand Up @@ -186,6 +188,7 @@ class PowerLimit
double charge_power_{}, extra_power_{}, burst_power_{};
double buffer_threshold_{};
double power_gain_{};
bool is_new_capacitor_{};
uint8_t expect_state_{}, cap_state_{};

bool referee_is_online_{ false };
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