add boost and check battery

306-controller_interface.X/app/can_message.c

@@ -305,6 +305,10 @@ void CM_processIncome(uint8_t idSender, uint8_t idMsg, bool rtr, uint32_t data){
          * SUPPLY *
          **********/
         case 6:
+            if(idMsg == 0x1) {
+                eKart.batteryVoltage = data.full;
+            }
+            
             if(idMsg == 0x4) {
                 DRIVE_startBehaviour(drive());
                 STEERING_startBehaviour(steering());

306-controller_interface.X/app/car.h

@@ -87,20 +87,8 @@ typedef struct {
     bool button;
     uint8_t speed;      // 100m/h
     bool brake;
-    uint8_t powerMode; // 0: eco - 1: normal - 2: race
-    /*
-     * 0 - ECO MODE
-     * Eco mod limit to 1/2 of the maximal current. 
-     * Position is 1/2 of the maximal angle
-     * 
-     * 1 - NORMAL MODE
-     * Standard ramp for normal mode
-     * Position is limited to 3/4 of the maximal 
-     * 
-     * 2 - RACE MODE
-     * 
-     * 
-     */
+    uint8_t powerMode;
+    uint16_t batteryVoltage;
 } KART_VAR_TYPE;
 KART_VAR_TYPE eKart;
 

306-controller_interface.X/app/kartculator.c

@@ -1,5 +1,5 @@
 /**
- * @author R<>mi Heredero
+ * @author R<>mi Heredero
  * @version. 0.0.0
  * @date August 2023
  * @file kartculator.c
@@ -242,6 +242,11 @@ void calcTorque(uint8_t joy_pos) {
         calcTorque *= 1150;
         calcTorque /= 1000;
     }
+    
+    if(eKart.batteryVoltage <= 18750) {
+        calcTorque = 0;
+    }
+    
     eKart.torque = (int16_t) calcTorque;
 }