public void TickTelemetry(IDataMiner data)
{
if (!Main.Data.Active.SupportsCar)
{
return;
}
bool wasCalibrating = Calibrating;
Calibrating = !Main.Drivetrain.Calibrated;
if (!wasCalibrating && Calibrating)
{
Debug.WriteLine("now calibrating");
stage = DrivetrainCalibrationStage.StartIdleRpm;
}
if (stage != DrivetrainCalibrationStage.None && !Calibrating)
{
stage = DrivetrainCalibrationStage.None;
}
;
switch (stage)
{
case DrivetrainCalibrationStage.None:
reqGears = false;
reqThrottle = false;
reqClutch = false;
break;
case DrivetrainCalibrationStage.StartIdleRpm:
reqClutch = true;
reqThrottle = true;
reqGears = true;
Main.Transmission.Shift(data.Telemetry.Gear, 0, calibrateShiftStyle);
if (data.Telemetry.EngineRpm < 300)
{
throttle = 1;
clutch = 1;
gear = 0;
}
else if (data.Telemetry.EngineRpm > 2000)
{
throttle = 0;
clutch = 1;
gear = 0;
}
else
{
throttle = 0;
clutch = 1;
gear = 0;
if (Math.Abs(data.Telemetry.EngineRpm - previousEngineRpm) < 1)
{
stage = DrivetrainCalibrationStage.FinishIdleRpm;
MeasurementSettletime = DateTime.Now.Add(new TimeSpan(0, 0, 0, 0, 2750));
}
}
previousEngineRpm = data.Telemetry.EngineRpm;
break;
case DrivetrainCalibrationStage.FinishIdleRpm:
if (MeasurementSettled)
{
Debug.WriteLine("Idle RPM: " + data.Telemetry.EngineRpm);
if (data.Telemetry.EngineRpm < 300)
{
stage = DrivetrainCalibrationStage.StartIdleRpm;
}
else
{
Main.Drivetrain.StallRpm = data.Telemetry.EngineRpm;
stage = DrivetrainCalibrationStage.StartMaxRpm;
maxRpmTarget = data.Telemetry.EngineRpm + 1000;
previousThrottle = 0;
}
}
break;
case DrivetrainCalibrationStage.StartMaxRpm:
reqClutch = true;
reqThrottle = true;
reqGears = true;
clutch = 1;
throttle = 1;
maxRpmMeasured = 0;
MeasurementSettletime = DateTime.Now.Add(new TimeSpan(0, 0, 0, 0, 1500));
stage = DrivetrainCalibrationStage.FinishMaxRpm;
break;
case DrivetrainCalibrationStage.FinishMaxRpm:
throttle = 1;
maxRpmMeasured = Math.Max(maxRpmMeasured, data.Telemetry.EngineRpm);
if (MeasurementSettled)
{
if (Math.Abs(maxRpmMeasured - Main.Drivetrain.StallRpm) < 500)
{
Debug.WriteLine("Totally messed up MAX RPM.. resetting");
stage = DrivetrainCalibrationStage.StartIdleRpm;
}
else
{
Debug.WriteLine("Max RPM approx: " + maxRpmMeasured);
Main.Drivetrain.MaximumRpm = maxRpmMeasured - 300;
stage = DrivetrainCalibrationStage.ShiftToFirst;
nextStage = DrivetrainCalibrationStage.StartGears;
}
}
break;
case DrivetrainCalibrationStage.StartGears:
reqClutch = true;
reqThrottle = true;
reqGears = true;
throttle = 0;
clutch = 1;
gear++;
Main.Transmission.Shift(data.Telemetry.Gear, gear, calibrateShiftStyle);
MeasurementSettletime = DateTime.Now.Add(new TimeSpan(0, 0, 0, 0, 500));
stage = DrivetrainCalibrationStage.FinishGears;
break;
case DrivetrainCalibrationStage.FinishGears:
if (MeasurementSettled && !Main.Transmission.IsShifting)
{
if (data.Telemetry.Gear != gear)
{
gear--;
// Car doesn't have this gear.
Debug.WriteLine("Gears: " + gear);
if (gear <= 0)
{
Debug.WriteLine("That's not right");
stage = DrivetrainCalibrationStage.StartGears;
}
else
{
Main.Drivetrain.Gears = gear;
Main.Drivetrain.GearRatios = new double[gear];
stage = DrivetrainCalibrationStage.ShiftToFirst;
nextStage = DrivetrainCalibrationStage.StartGearRatios;
MeasurementSettletime = DateTime.Now.Add(new TimeSpan(0, 0, 0, 0, 500));
calibrationPreDone = false;
}
gear = 0;
}
else
{
stage = DrivetrainCalibrationStage.StartGears;
}
}
break;
case DrivetrainCalibrationStage.ShiftToFirst:
if (!Main.Transmission.IsShifting && MeasurementSettled)
{
if (data.Telemetry.Gear != 1)
{
Main.Transmission.Shift(shiftToFirstRangeAttempt * Main.Transmission.RangeSize + 1, 1, calibrateShiftStyle);
shiftToFirstRangeAttempt++;
MeasurementSettletime = DateTime.Now.Add(new TimeSpan(0, 0, 0, 0, 100));
if (shiftToFirstRangeAttempt > 3)
{
shiftToFirstRangeAttempt = 0;
}
}
else
{
stage = nextStage;
MeasurementSettletime = DateTime.MaxValue;
}
}
break;
case DrivetrainCalibrationStage.EndGearRatios:
if (Main.Drivetrain.GearRatios.Length >= data.Telemetry.Gear)
{
if (data.Telemetry.Gear <= 0)
{
stage = DrivetrainCalibrationStage.StartGearRatios;
break;
}
if (data.Telemetry.EngineRpm > Main.Drivetrain.StallRpm * 1.15)
{
var gr = Main.Drivetrain.GearRatios[data.Telemetry.Gear - 1];
if (gr != 0)
{
stage = DrivetrainCalibrationStage.StartGearRatios;
break;
}
reqThrottle = true;
throttle = gearRatioSpeedCruise - data.Telemetry.Speed;
throttle /= 3;
var ratio = data.Telemetry.EngineRpm / (3.6 * data.Telemetry.Speed);
if (ratio > 1000 || ratio < 1)
{
stage = DrivetrainCalibrationStage.StartGearRatios;
break;
}
Debug.WriteLine("Gear " + data.Telemetry.Gear + " : " + ratio);
// start sampling
if (sample == 0)
{
sample = ratio;
}
else
{
sample = sample * 0.9 + ratio * 0.1;
}
samplesTaken++;
if (samplesTaken == 50)
{
Main.Drivetrain.GearRatios[data.Telemetry.Gear - 1] = sample;
}
}
else
{
stage = DrivetrainCalibrationStage.StartGearRatios;
break;
}
}
else
{
stage = DrivetrainCalibrationStage.StartGearRatios;
}
break;
case DrivetrainCalibrationStage.StartGearRatios:
reqGears = false;
reqThrottle = false;
reqClutch = false;
// Activate get-home-mode; which shifts at 4x stall rpm
Main.Transmission.GetHomeMode = true;
if (data.Telemetry.EngineRpm > Main.Drivetrain.StallRpm * 2)
{
// Driving at reasonable rpm's.
if (data.Telemetry.Gear > 0)
{
if (Main.Drivetrain.GearRatios.Length >= data.Telemetry.Gear && data.Telemetry.EngineRpm > Main.Drivetrain.StallRpm * 2)
{
var gr = Main.Drivetrain.GearRatios[data.Telemetry.Gear - 1];
if (gr == 0)
{
samplesTaken = 0;
gearRatioSpeedCruise = data.Telemetry.Speed;
stage = DrivetrainCalibrationStage.EndGearRatios;
}
}
}
var GearsCalibrated = true;
for (int i = 0; i < Main.Drivetrain.Gears; i++)
{
if (Main.Drivetrain.GearRatios[i] < 1)
{
UncalibratedGear = i;
GearsCalibrated = false;
}
}
if (GearsCalibrated)
{
if (MeasurementSettled)
{
Main.Transmission.GetHomeMode = false;
Debug.WriteLine("Calibration done");
stage = DrivetrainCalibrationStage.None;
Main.Store(Main.Drivetrain.ExportParameters(), Main.Drivetrain.File);
Main.Load(Main.Drivetrain, Main.Drivetrain.File);
}
if (!calibrationPreDone)
{
calibrationPreDone = true;
MeasurementSettletime = DateTime.Now.Add(new TimeSpan(0, 0, 0, 3));
}
}
}
break;
}
}
public void TickTelemetry(IDataMiner data)
{
if (!Main.Data.Active.SupportsCar) return;
bool wasCalibrating = Calibrating;
Calibrating = !Main.Drivetrain.Calibrated;
if(!wasCalibrating && Calibrating)
{
Debug.WriteLine("now calibrating");
stage = DrivetrainCalibrationStage.StartIdleRpm;
}
if(stage!=DrivetrainCalibrationStage.None && !Calibrating)
stage = DrivetrainCalibrationStage.None;
;
switch(stage)
{
case DrivetrainCalibrationStage.None :
reqGears = false;
reqThrottle = false;
reqClutch = false;
break;
case DrivetrainCalibrationStage.StartIdleRpm:
reqClutch = true;
reqThrottle = true;
reqGears = true;
Main.Transmission.Shift(data.Telemetry.Gear, 0, calibrateShiftStyle);
if (data.Telemetry.EngineRpm < 300)
{
throttle = 1;
clutch = 1;
gear = 0;
}
else if (data.Telemetry.EngineRpm>2000)
{
throttle = 0;
clutch = 1;
gear = 0;
}else
{
throttle = 0;
clutch = 1;
gear = 0;
if (Math.Abs(data.Telemetry.EngineRpm - previousEngineRpm) < 1){
stage = DrivetrainCalibrationStage.FinishIdleRpm;
MeasurementSettletime = DateTime.Now.Add(new TimeSpan(0, 0, 0, 0, 2750));
}
}
previousEngineRpm = data.Telemetry.EngineRpm;
break;
case DrivetrainCalibrationStage.FinishIdleRpm:
if (MeasurementSettled)
{
Debug.WriteLine("Idle RPM: " + data.Telemetry.EngineRpm);
if (data.Telemetry.EngineRpm < 300)
{
stage = DrivetrainCalibrationStage.StartIdleRpm;
}
else
{
Main.Drivetrain.StallRpm = data.Telemetry.EngineRpm;
stage = DrivetrainCalibrationStage.StartMaxRpm;
maxRpmTarget = data.Telemetry.EngineRpm + 1000;
previousThrottle = 0;
}
}
break;
case DrivetrainCalibrationStage.StartMaxRpm:
reqClutch = true;
reqThrottle = true;
reqGears = true;
clutch = 1;
throttle = 1;
maxRpmMeasured = 0;
MeasurementSettletime = DateTime.Now.Add(new TimeSpan(0, 0, 0, 0,1500));
stage = DrivetrainCalibrationStage.FinishMaxRpm;
break;
case DrivetrainCalibrationStage.FinishMaxRpm:
throttle = 1;
maxRpmMeasured = Math.Max(maxRpmMeasured, data.Telemetry.EngineRpm);
if (MeasurementSettled)
{
if (Math.Abs(maxRpmMeasured-Main.Drivetrain.StallRpm) < 500)
{
Debug.WriteLine("Totally messed up MAX RPM.. resetting");
stage = DrivetrainCalibrationStage.StartIdleRpm;
}
else
{
Debug.WriteLine("Max RPM approx: " + maxRpmMeasured);
Main.Drivetrain.MaximumRpm = maxRpmMeasured-300;
stage = DrivetrainCalibrationStage.ShiftToFirst;
nextStage = DrivetrainCalibrationStage.StartGears;
}
}
break;
case DrivetrainCalibrationStage.StartGears:
reqClutch = true;
reqThrottle = true;
reqGears = true;
throttle = 0;
clutch = 1;
gear++;
Main.Transmission.Shift(data.Telemetry.Gear, gear, calibrateShiftStyle);
MeasurementSettletime = DateTime.Now.Add(new TimeSpan(0, 0, 0, 0,500));
stage = DrivetrainCalibrationStage.FinishGears;
break;
case DrivetrainCalibrationStage.FinishGears:
if (MeasurementSettled && !Main.Transmission.IsShifting)
{
if(data.Telemetry.Gear != gear)
{
gear--;
// Car doesn't have this gear.
Debug.WriteLine("Gears: " + gear);
if (gear <= 0)
{
Debug.WriteLine("That's not right");
stage = DrivetrainCalibrationStage.StartGears;
}
else
{
Main.Drivetrain.Gears = gear;
Main.Drivetrain.GearRatios = new double[gear];
stage = DrivetrainCalibrationStage.ShiftToFirst;
nextStage = DrivetrainCalibrationStage.StartGearRatios;
MeasurementSettletime = DateTime.Now.Add(new TimeSpan(0, 0, 0, 0, 500));
calibrationPreDone = false;
}
gear = 0;
}
else
{
stage=DrivetrainCalibrationStage.StartGears;
}
}
break;
case DrivetrainCalibrationStage.ShiftToFirst:
if (!Main.Transmission.IsShifting && MeasurementSettled)
{
if (data.Telemetry.Gear != 1)
{
Main.Transmission.Shift(shiftToFirstRangeAttempt*Main.Transmission.RangeSize + 1, 1,
calibrateShiftStyle);
shiftToFirstRangeAttempt++;
MeasurementSettletime = DateTime.Now.Add(new TimeSpan(0, 0, 0, 0, 100));
if (shiftToFirstRangeAttempt > 3) shiftToFirstRangeAttempt = 0;
}
else
{
stage = nextStage;
MeasurementSettletime = DateTime.MaxValue;
}
}
break;
case DrivetrainCalibrationStage.EndGearRatios:
if (Main.Drivetrain.GearRatios.Length >= data.Telemetry.Gear)
{
if(data.Telemetry.Gear<=0)
{
stage = DrivetrainCalibrationStage.StartGearRatios;
break;
}
if (data.Telemetry.EngineRpm > Main.Drivetrain.StallRpm*1.15)
{
var gr = Main.Drivetrain.GearRatios[data.Telemetry.Gear - 1];
if (gr != 0)
{
stage = DrivetrainCalibrationStage.StartGearRatios;
break;
}
reqThrottle = true;
throttle = gearRatioSpeedCruise - data.Telemetry.Speed;
throttle /= 3;
var ratio = data.Telemetry.EngineRpm / (3.6 * data.Telemetry.Speed);
if (ratio > 1000 || ratio < 1)
{
stage = DrivetrainCalibrationStage.StartGearRatios;
break;
}
Debug.WriteLine("Gear " + data.Telemetry.Gear + " : " + ratio);
// start sampling
if (sample == 0) sample = ratio;
else sample = sample * 0.9 + ratio * 0.1;
samplesTaken ++;
if(samplesTaken==50)
{
Main.Drivetrain.GearRatios[data.Telemetry.Gear - 1] = sample;
}
}
else
{
stage = DrivetrainCalibrationStage.StartGearRatios;
break;
}
}
else
{
stage = DrivetrainCalibrationStage.StartGearRatios;
}
break;
case DrivetrainCalibrationStage.StartGearRatios:
reqGears = false;
reqThrottle = false;
reqClutch = false;
// Activate get-home-mode; which shifts at 4x stall rpm
Main.Transmission.GetHomeMode = true;
if (data.Telemetry.EngineRpm > Main.Drivetrain.StallRpm*2)
{
// Driving at reasonable rpm's.
if (data.Telemetry.Gear > 0)
{
if (Main.Drivetrain.GearRatios.Length >= data.Telemetry.Gear &&
data.Telemetry.EngineRpm > Main.Drivetrain.StallRpm * 2)
{
var gr = Main.Drivetrain.GearRatios[data.Telemetry.Gear - 1];
if (gr == 0)
{
samplesTaken = 0;
gearRatioSpeedCruise = data.Telemetry.Speed;
stage = DrivetrainCalibrationStage.EndGearRatios;
}
}
}
var GearsCalibrated = true;
for (int i = 0; i < Main.Drivetrain.Gears; i++)
{ if (Main.Drivetrain.GearRatios[i] < 1)
{
UncalibratedGear = i;
GearsCalibrated = false;
}
}
if (GearsCalibrated)
{
if (MeasurementSettled)
{
Main.Transmission.GetHomeMode = false;
Debug.WriteLine("Calibration done");
stage = DrivetrainCalibrationStage.None;
Main.Store(Main.Drivetrain.ExportParameters(), Main.Drivetrain.File);
Main.Load(Main.Drivetrain, Main.Drivetrain.File);
}
if (!calibrationPreDone)
{
calibrationPreDone = true;
MeasurementSettletime = DateTime.Now.Add(new TimeSpan(0, 0, 0, 3));
}
}
}
break;
}
}
