Traction Control Draft

[atharvarao123]

Summary of Changes

• Implemented Traction Control with a PID Controller

Implementation Details

• Utilized pre-defined PID controller from thermal.cpp
• Logic is implemented in vcu.cpp ( I could do it in a seperate file if preferred)

Testing and Validation (include a link or image as proof of the validation performed.)

• It builds, but values for PID require tweaking ( I just put placeholder values for now)

[KogantiAnoop]

Make sure to handle differences on wheel speeds. IE, if the free spinning wheels have a pretty crazy difference then reduce the torque command and only have it rely on the slower spinning free wheel. If they have near similar wheel speeds, then u could do the average.

Your logic for getting mechanical RPMS should be valid. Good stuff.

I see what you are doing with slip, and accounting for division by 0, but i think it might be more optimal for you to push for a idle checker. if the car is not moving or maybe below a specific speed threshold (smth small), then return 0.1 (I believe this is the target slip ratio?

LMK if u got any questions - Anoop