Differential Control Component
Differential locking/bias control component for driving dynamics. Adjusts differential lock percentage or bias ratio based on supervisor commands to control torque distribution across an axle.
Differential locking/bias control component for driving dynamics. Adjusts differential lock percentage or bias ratio based on supervisor commands to control torque distribution across an axle.
State Fields
| Field | Type | Description |
|---|---|---|
isActive, isActingAsYC | boolean | Status flags. |
Public API
| Function | Description |
|---|---|
actAsYawControl(measuredYaw, expectedYaw, yawDifference, bodySlipAngle, dt) | Adjusts differential locking constraints to mitigate oversteer or assist in cornering. |
registerCMU(cmu) | Links to the CMU. |
module.setDebugMode(debugEnabled) | Sets the debug mode. |
module.shutdown() | Shuts down the module and cleans up resources. |
module.setParameters(parameters) | CMU.applyParameter(controlParameters, initialControlParameters, parameters, "tractionControl") |
module.setConfig(configTable) | Sets the config. |
module.getConfig() | Returns the config. |
Hooks
| Hook | Description |
|---|---|
initSecondStage(jbeamData) | Identifies front and rear active differentials and registers with supervisors. |
module.initLastStage(jbeamData) | Final-stage initialization after all controllers and powertrains are ready. |
module.reset() | Resets the controller to its initial state. |
module.updateGFX(dt) | Per-frame update for visual state and UI synchronization. |
See Also
- Yaw Control — Yaw stability supervisor
- Active Diff Lock — Differential lock actuator
- Active Diff Bias — Differential bias actuator
Brake Control Component
Individual wheel brake control component for driving dynamics interventions. Applies targeted brake pressure to specific wheels as commanded by traction or yaw control supervisors to correct slip or yaw errors.
Motor Torque Control Component
Engine/motor torque reduction component for driving dynamics interventions. Reduces drive torque as commanded by traction or yaw supervisors to limit wheelspin or correct stability issues.