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.
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.
State Fields
| Field | Type | Description |
|---|---|---|
isActive, isActingAsTC, isActingAsYC | boolean | Status flags. |
Public API
| Function | Description |
|---|---|
actAsTractionControl(wheelGroup, dt) | Reduces motor torque output to mitigate wheel spin. |
actAsYawControl(measuredYaw, expectedYaw, yawDifference, bodySlipAngle, dt) | Uses differential motor torque (if multiple motors exist) to assist in vehicle stabilization. |
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) | Sets the parameters. |
module.setConfig(configTable) | Sets the config. |
module.getConfig() | Returns the config. |
Hooks
| Hook | Description |
|---|---|
initSecondStage(jbeamData) | Identifies supervised motors and registers with supervisors. |
updateFixedStep(dt) | High-frequency loop that applies the final calculated throttleFactor to individual motor devices. |
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
- Traction Control — Traction supervisor
- Yaw Control — Yaw stability supervisor
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.
Virtual Speed Slip Provider
Calculates virtual wheel slip values based on speed differences between driven and non-driven wheels. Provides slip ratio data to the traction control supervisor for intervention decisions.