Hopefully a fix for the start jitter bug

src/control/axle_control_frame.cpp

@@ -13,7 +13,7 @@ void adas_api::AxleControlFrame::set_torque( const float torque )
 
 float adas_api::AxleControlFrame::torque_rpm_limit( const float rpm )
 {
-    if( rpm > 700 )
+    /*if( rpm > 700 )
         return 50.f;
     else if( rpm > 600 )
         return 85.f;
@@ -24,9 +24,74 @@ float adas_api::AxleControlFrame::torque_rpm_limit( const float rpm )
     else if( rpm > 300 )
         return 150.f;
 
-    return 200.f;
-
+    return 200.f;*/
+
+    // Cavern Taylor's Code Potential Optimum from Ian's Limits (SET 21.9kW Motor Power Limit)
+    if ( rpm < 305 ) {   
+         return 195.f;
+     } else if ( rpm > 800 ){ 
+         return -0.02 + 59596 * pow(rpm,-0.999);
+     } else {
+          return 59596 * pow(rpm,-0.999);
+    }
 
+    //***Cavern Taylor's Code Values using code from ideal curve smoothing (SET 24.95kW Motor Power Limit)
+    /*if ( rpm > 345 )
+          return 194.5f;
+     else if ( rpm > 350 ) {  
+         return 67896 * pow(rpm,-1);
+     } else {
+         return 195.f;
+     }*/
+
+   // ***07-03-2023 TESTING DATA POINTS***
+    /*if( rpm > 470 )
+        return 150.f;
+    else if( rpm > 430 )
+        return 160.f;
+    else if( rpm > 390 )
+        return 170.f;
+
+    return 192.f;*/
+
+    //***Cavern Taylor's TESTING DATA POINT OPTIMISATION 1 (Straight line connecting data points) (wheel)
+     /*if ( rpm > 500 )
+          return 150.f;
+     else if ( rpm > 470 ) 
+         return -0.33 * rpm + 316.6;
+     else if ( rpm > 430 ) 
+         return -0.25 * rpm + 277.5;
+     else if ( rpm > 380 ) 
+         return -0.55 * rpm + 406.5;
+     else
+         return 190.f;*/
+
+
+
+	/*float e = ( -0.3055 * rpm ) + 284.05;
+    if( e > 200.f ) e = 200.f;
+    if( e < 0 ) e = 0;
+    return e;*/
+
+    /*if( rpm < 390 )
+	return 195.f;
+    return 76169 * powf( rpm, -1 );*/
+
+	/*if( rpm <390 )return 192.f;
+	if( rpm < 430 ) return 170.f;
+	if( rpm < 470 ) return 160.f;
+	return 150.f;*/
+
+    // Cavern Taylor's Code to check potential maximum TORQUE limits
+    // if ( rpm > 305 ) {	
+    //     return 59596 * pow(rpm,-0.999);
+    // } else {
+    //     return 195.f
+    // }    // if ( rpm > 305 ) {	
+    //     return 59596 * pow(rpm,-0.999);
+    // } else {
+    //     return 195.f
+    // }
 }
 
 can_frame adas_api::AxleControlFrame::_process() const
@@ -38,8 +103,8 @@ can_frame adas_api::AxleControlFrame::_process() const
     if( this->_brakeControl.on() == false && 
         this->_statusFrame.is_recent() && 
         this->_statusFrame.as_state() == adas_api::StatusFrame::AsState::DRIVING &&   // in driving mode
-        this->_brakeFrame.is_recent() && 
-        this->_brakeFrame.on() == false &&                                  // brakes are off
+        /*this->_brakeFrame.is_recent() && 
+        this->_brakeFrame.on() == false &&*/                                  // brakes are off
         this->_torqueFrame.is_recent() && 
         this->_speedsFrame.is_recent() )
     {