LUADOC - Farming Simulator 17

Printable Version

Script v1.4.4.0

Specializations

Engine v7.0.0.2

Foundation Reference

VehicleMotor

Description

Class for vehicle motors

Functions

new

Description

Creating new motor

Definition

new(integer minRpm, integer maxRpm, float maxForwardSpeed, float maxBackwardSpeed, table torqueCurve, float brakeForce, float forwardGearRatio, float backwardGearRatio, float minForwardGearRatio, float maxForwardGearRatio, float minBackwardGearRatio, float maxBackwardGearRatio, integer ptoMotorRpmRatio, float rpmFadeOutRange, float maxTorque, float maxMotorPower)

Arguments

integer	minRpm	min rpm
integer	maxRpm	max rpm
float	maxForwardSpeed	max forward speed
float	maxBackwardSpeed	max backward speed
table	torqueCurve	torque curve (AnimCurve)
float	brakeForce	brake force
float	forwardGearRatio	forward gear ratio
float	backwardGearRatio	backward gear ratio
float	minForwardGearRatio	min forward gear ratio
float	maxForwardGearRatio	max forward gear ratio
float	minBackwardGearRatio	min backward gear ratio
float	maxBackwardGearRatio	max backward gear ratio
integer	ptoMotorRpmRatio	pto motor rpm ratio
float	rpmFadeOutRange	rpm fade out range
float	maxTorque	max torque
float	maxMotorPower	max motor power

Return Values

table

motorInstance

motor instance

Code

35	function VehicleMotor:new(vehicle, minRpm, maxRpm, maxForwardSpeed, maxBackwardSpeed, torqueCurve, brakeForce, forwardGearRatio, backwardGearRatio, minForwardGearRatio, maxForwardGearRatio, minBackwardGearRatio, maxBackwardGearRatio, ptoMotorRpmRatio, rpmFadeOutRange, maxTorque, maxMotorPower, minSpeed)
36
37	local self = {};
38	setmetatable(self, VehicleMotor_mt);
39
40	self.vehicle = vehicle;
41	self.minRpm = minRpm;
42	self.maxRpm = maxRpm;
43	self.minSpeed = minSpeed;
44	self.maxForwardSpeed = maxForwardSpeed; -- speed in m/s
45	self.maxBackwardSpeed = maxBackwardSpeed;
46
47	self.maxClutchTorque = 5; -- amount of torque that can be transferred from motor to clutch/wheels [t m s^-2]
48
49	self.torqueCurve = torqueCurve;
50	self.brakeForce = brakeForce;
51
52	self.gear = 0;
53	self.gearRatio = 0;
54
55	self.forwardGearRatios = {forwardGearRatio};
56	self.backwardGearRatios = {backwardGearRatio};
57	self.minForwardGearRatio = minForwardGearRatio;
58	self.maxForwardGearRatio = maxForwardGearRatio;
59	self.minBackwardGearRatio = minBackwardGearRatio;
60	self.maxBackwardGearRatio = maxBackwardGearRatio;
61
62	self.lastRealMotorRpm = 0;
63	self.lastMotorRpm = 0;
64
65	self.rpmFadeOutRange = rpmFadeOutRange;
66	self.rpmLimit = math.huge;
67	self.speedLimit = math.huge; -- Speed limit in km/h
68	self.speedLimitAcc = math.huge;
69
70	-- this is not clamped by minRpm
71	self.nonClampedMotorRpm = 0;
72	self.equalizedMotorRpm = 0;
73	self.clutchRpm = 0;
74	self.motorLoad = 0;
75	self.requiredMotorPower = 0;
76
77	if self.maxForwardSpeed == nil then
78	self.maxForwardSpeed = self:calculatePhysicalMaximumForwardSpeed();
79	end
80	if self.maxBackwardSpeed == nil then
81	self.maxBackwardSpeed = self:calculatePhysicalMaximumBackwardSpeed();
82	end
83
84	self.maxMotorTorque = self.torqueCurve:getMaximum();
85
86	self.ptoMotorRpmRatio = ptoMotorRpmRatio;
87
88	self.maxMotorPower = maxMotorPower;
89
90	self.rotInertia = 0.001; -- Rotational inertia of the motor, mostly defined by the flywheel [t m^2]
91	self.dampingRate = 0.0007; -- Damping rate of the motor if the acceleration pedal is 0 [t m^2 s^-1]
92
93	return self;
94	end;

setLowBrakeForce

Description

Set low brake force

Definition

setLowBrakeForce(float lowBrakeForceScale, float lowBrakeForceSpeedLimit)

Arguments

float	lowBrakeForceScale	low brake force scale
float	lowBrakeForceSpeedLimit	low brake force speed limit

Code

100	function VehicleMotor:setLowBrakeForce(lowBrakeForceScale, lowBrakeForceSpeedLimit)
101	self.lowBrakeForceScale = lowBrakeForceScale;
102	self.lowBrakeForceSpeedLimit = lowBrakeForceSpeedLimit;
103	end;

getMaxClutchTorque

Description

Returns max clutch torque

Definition

getMaxClutchTorque()

Return Values

float

maxClutchTorque

max clutch torque

Code

108	function VehicleMotor:getMaxClutchTorque()
109	return self.maxClutchTorque;
110	end

getRotInertia

Description

Returns rotation inertia

Definition

getRotInertia()

Return Values

float

rotInertia

rotation inertia

Code

115	function VehicleMotor:getRotInertia()
116	return self.rotInertia;
117	end

setRotInertia

Description

Sets rotation inertia

Definition

setRotInertia(float rotInertia)

Arguments

float

rotInertia

rotation inertia

Code

122	function VehicleMotor:setRotInertia(rotInertia)
123	self.rotInertia = rotInertia;
124	end

getDampingRate

Description

Returns damping rate

Definition

getDampingRate()

Return Values

float

dampingRate

damping rate

Code

129	function VehicleMotor:getDampingRate()
130	return self.dampingRate;
131	end

setDampingRate

Description

Sets damping rate

Definition

setDampingRate(float dampingRate)

Arguments

float

dampingRate

new damping rate

Code

136	function VehicleMotor:setDampingRate(dampingRate)
137	self.dampingRate = dampingRate;
138	end

getMaxTorque

Description

Returns max torque

Definition

getMaxTorque()

Return Values

float

maxMotorTorque

max motor torque

Code

143	function VehicleMotor:getMaxTorque()
144	return self.maxMotorTorque;
145	end

getBrakeForce

Description

Returns brake force

Definition

getBrakeForce()

Return Values

float

brakeForce

brake force

Code

150	function VehicleMotor:getBrakeForce()
151	return self.brakeForce;
152	end

getMinRpm

Description

Returns min rpm

Definition

getMinRpm()

Return Values

integer

minRpm

min rpm

Code

157	function VehicleMotor:getMinRpm()
158	return self.minRpm;
159	end

getMaxRpm

Description

Returns max rpm

Definition

getMaxRpm()

Return Values

integer

maxRpm

max rpm

Code

164	function VehicleMotor:getMaxRpm()
165	return self.maxRpm;
166	end

getLastMotorRpm

Description

Returns last motor rpm damped

Definition

getLastMotorRpm()

Return Values

integer

lastMotorRpm

last motor rpm

Code

171	function VehicleMotor:getLastMotorRpm()
172	return self.lastMotorRpm;
173	end

getLastRealMotorRpm

Description

Returns last motor rpm real

Definition

getLastRealMotorRpm()

Return Values

integer

lastMotorRpm

last motor rpm

Code

178	function VehicleMotor:getLastRealMotorRpm()
179	return self.lastRealMotorRpm;
180	end

setLastRpm

Description

Sets last motor rpm

Definition

setLastRpm(integer lastRpm)

Arguments

integer

lastRpm

new last motor rpm

Code

185	function VehicleMotor:setLastRpm(lastRpm)
186	self.lastRealMotorRpm = lastRpm;
187
188	self.lastMotorRpm = self.lastMotorRpm * 0.95 + self.lastRealMotorRpm * 0.05;
189	end

getMotorLoad

Description

Returns motor load

Definition

getMotorLoad()

Return Values

float

motorLoad

motor load

Code

194	function VehicleMotor:getMotorLoad()
195	return self.motorLoad;
196	end

getEqualizedMotorRpm

Description

Returns equalized motor rpm

Definition

getEqualizedMotorRpm()

Return Values

integer

equalizedMotorRpm

equalized motor rpm

Code

201	function VehicleMotor:getEqualizedMotorRpm()
202	return self.equalizedMotorRpm;
203	end

setEqualizedMotorRpm

Description

Sets equalized motor rpm

Definition

setEqualizedMotorRpm(integer equalizedMotorRpm)

Arguments

integer

equalizedMotorRpm

equalized motor rpm

Code

208	function VehicleMotor:setEqualizedMotorRpm(rpm)
209	self.equalizedMotorRpm = rpm;
210	self:setLastRpm(rpm);
211	end

getPtoMotorRpmRatio

Description

Returns pto motor rpm ratio

Definition

getPtoMotorRpmRatio()

Return Values

float

ptoMotorRpmRatio

pto motor rpm ratio

Code

216	function VehicleMotor:getPtoMotorRpmRatio()
217	return self.ptoMotorRpmRatio;
218	end

getNonClampedMotorRpm

Description

Returns non clamped motor rpm

Definition

getNonClampedMotorRpm()

Return Values

integer

nonClampedMotorRpm

non clamped motor rpm

Code

223	function VehicleMotor:getNonClampedMotorRpm()
224	return self.nonClampedMotorRpm;
225	end

getClutchRpm

Description

Returns clutch rpm

Definition

getClutchRpm()

Return Values

integer

clutchRpm

clutch rpm

Code

230	function VehicleMotor:getClutchRpm()
231	return self.clutchRpm;
232	end

getTorqueCurve

Description

Returns torque curve

Definition

getTorqueCurve()

Return Values

table

torqueCurve

torque curve

Code

237	function VehicleMotor:getTorqueCurve()
238	return self.torqueCurve;
239	end

getTorque

Description

Returns torque

Definition

getTorque(float acceleration, boolean limitRpm)

Arguments

float	acceleration	acceleration
boolean	limitRpm	limit rpm

Return Values

float	torque	torque
float	brakePedal	brake pedal

Code

247	function VehicleMotor:getTorque(acceleration, limitRpm)
248	-- Note: the torque curve is undefined outside the min/max rpm range. Clamping makes the curve flat at the outside range
249	local torque = self.torqueCurve:get(Utils.clamp(self.nonClampedMotorRpm, self.minRpm, self.maxRpm));
250	local brakePedal = 0;
251
252	if limitRpm then
253	local maxRpm = self:getCurMaxRpm();
254
255	local rpmFadeOutRange = self.rpmFadeOutRange*self:getGearRatio();
256
257	local fadeStartRpm = maxRpm - rpmFadeOutRange;
258	if self.nonClampedMotorRpm > fadeStartRpm then
259	if self.nonClampedMotorRpm > maxRpm then
260	brakePedal = math.min((self.nonClampedMotorRpm-maxRpm)/rpmFadeOutRange, 1);
261	torque = 0;
262	else
263	torque = torque * math.max((fadeStartRpm-self.nonClampedMotorRpm)/rpmFadeOutRange, 0);
264	end;
265	end;
266	end
267	torque = torque * math.abs(acceleration);
268
269	local neededPtoTorque = PowerConsumer.getTotalConsumedPtoTorque(self.vehicle);
270	if neededPtoTorque > 0 then
271	torque = math.max(torque - neededPtoTorque/self.ptoMotorRpmRatio, torque*0.1);
272	end
273
274	return torque, brakePedal;
275	end;

getMaximumForwardSpeed

Description

Returns maximum forward speed

Definition

getMaximumForwardSpeed()

Return Values

float

maxForwardSpeed

maximum forward speed

Code

280	function VehicleMotor:getMaximumForwardSpeed()
281	return self.maxForwardSpeed;
282	end

getMaximumBackwardSpeed

Description

Returns maximum backward speed

Definition

getMaximumBackwardSpeed()

Return Values

float

maxBackwardSpeed

maximum backward speed

Code

287	function VehicleMotor:getMaximumBackwardSpeed()
288	return self.maxBackwardSpeed;
289	end

calculatePhysicalMaximumForwardSpeed

Description

Returns physical maximum forward speed

Definition

calculatePhysicalMaximumForwardSpeed()

Return Values

float

physicalMaxForwardSpeed

physical maximum forward speed

Code

294	function VehicleMotor:calculatePhysicalMaximumForwardSpeed()
295	return VehicleMotor.calculatePhysicalMaximumSpeed(self.minForwardGearRatio, self.forwardGearRatios, self.maxRpm)
296	end

calculatePhysicalMaximumBackwardSpeed

Description

Returns physical maximum backward speed

Definition

calculatePhysicalMaximumBackwardSpeed()

Return Values

float

physicalMaxBackwardSpeed

physical maximum backward speed

Code

301	function VehicleMotor:calculatePhysicalMaximumBackwardSpeed()
302	return VehicleMotor.calculatePhysicalMaximumSpeed(self.minBackwardGearRatio, self.backwardGearRatios, self.maxRpm)
303	end

calculatePhysicalMaximumSpeed

Description

Returns physical maximum speed

Definition

calculatePhysicalMaximumSpeed(float minGearRatio, table gearRatios, integer maxRpm)

Arguments

float	minGearRatio	min gear ratio
table	gearRatios	gear ratios
integer	maxRpm	max rpm

Return Values

float

physicalMaxSpeed

physical maximum speed

Code

311	function VehicleMotor.calculatePhysicalMaximumSpeed(minGearRatio, gearRatios, maxRpm)
312	local minRatio;
313	if minGearRatio ~= nil then
314	minRatio = minGearRatio
315	else
316	minRatio = math.huge;
317	for _, ratio in pairs(gearRatios) do
318	minRatio = math.min(minRatio, ratio);
319	end
320	end
321	return maxRpm * math.pi / (30 * minRatio);
322	end

updateMotorRpm

Description

Update motor rpm

Definition

updateMotorRpm(float dt)

Arguments

float

time since last call in ms

Code

327	function VehicleMotor:updateMotorRpm(dt)
328	local vehicle = self.vehicle;
329	if next(vehicle.differentials) ~= nil and vehicle.motorizedNode ~= nil then
330	self.nonClampedMotorRpm, self.clutchRpm, self.motorLoad = getMotorRotationSpeed(vehicle.motorizedNode)
331	self.nonClampedMotorRpm = self.nonClampedMotorRpm * 30 / math.pi;
332	self.clutchRpm = self.clutchRpm * 30 / math.pi;
333
334	self.requiredMotorPower = math.huge;
335
336	else
337	local gearRatio = self:getGearRatio();
338	if vehicle.isServer then
339	self.nonClampedMotorRpm = math.max(WheelsUtil.computeRpmFromWheels(vehicle) * gearRatio, 0);
340	else
341	self.nonClampedMotorRpm = math.max(WheelsUtil.computeRpmFromSpeed(vehicle) * gearRatio, 0);
342	end
343	self.clutchRpm = self.nonClampedMotorRpm;
344	end
345	self:setLastRpm(math.max(self.nonClampedMotorRpm, self.minRpm));
346
347	-- the clamped motor rpm always is higher-equal than the required rpm by the pto
348	--local ptoRpm = math.min(PowerConsumer.getMaxPtoRpm(self.vehicle)*self.ptoMotorRpmRatio, self.maxRpm);
349	-- smoothing for raise/fall of ptoRpm
350	if self.lastPtoRpm == nil then
351	self.lastPtoRpm = self.minRpm;
352	end;
353	local ptoRpm = PowerConsumer.getMaxPtoRpm(self.vehicle)*self.ptoMotorRpmRatio;
354	if ptoRpm > self.lastPtoRpm then
355	self.lastPtoRpm = math.min(ptoRpm, self.lastPtoRpm + self.maxRpm*dt/2000);
356	elseif ptoRpm < self.lastPtoRpm then
357	self.lastPtoRpm = math.max(self.minRpm, self.lastPtoRpm - self.maxRpm*dt/1000);
358	end;
359	local ptoRpm = math.min(self.lastPtoRpm, self.maxRpm);
360	self:setLastRpm(math.max(self.lastMotorRpm, ptoRpm));
361
362	self.equalizedMotorRpm = self.minRpm + ( (math.max(self.nonClampedMotorRpm, (self.lastPtoRpm-self.minRpm))/self.maxRpm) * (self.maxRpm-self.minRpm) );
363	end;

getBestGearRatio

Description

Returns best gear ratio

Definition

getBestGearRatio(float wheelSpeedRpm, float minRatio, float maxRatio, float accSafeMotorRpm, float requiredMotorPower, float requiredMotorRpm)

Arguments

float	wheelSpeedRpm	wheel speed rpm
float	minRatio	min ratio
float	maxRatio	max ratio
float	accSafeMotorRpm	acc save motor rpm
float	requiredMotorPower	the required motor power [kW] (can be bigger than what the motor can actually achieve)
float	requiredMotorRpm	fixed motor rpm to be used (if not 0)

Return Values

float

bestGearRatio

best gear ratio

Code

375	function VehicleMotor:getBestGearRatio(wheelSpeedRpm, minRatio, maxRatio, accSafeMotorRpm, requiredMotorPower, requiredMotorRpm)
376
377	if requiredMotorRpm ~= 0 then
378	local gearRatio = math.max(requiredMotorRpm-accSafeMotorRpm, requiredMotorRpm*0.8) / math.max(wheelSpeedRpm, 0.001);
379	gearRatio = Utils.clamp(gearRatio, minRatio, maxRatio);
380	return gearRatio;
381	end
382
383	-- Use a minimum wheel rpm to avoid that gearRatio is ignored
384	wheelSpeedRpm = math.max(wheelSpeedRpm, 0.0001);
385
386	local bestMotorPower = 0;
387	local bestGearRatio = minRatio;
388	--local bestRPM = 0;
389	-- TODO make this more efficient
390	for gearRatio = minRatio, maxRatio, 0.5 do
391	local motorRpm = wheelSpeedRpm * gearRatio;
392	if motorRpm > self.maxRpm - accSafeMotorRpm then
393	break;
394	end
395	local motorPower = self.torqueCurve:get(math.max(motorRpm, self.minRpm)) * motorRpm *math.pi/30;
396	if motorPower > bestMotorPower then
397	bestMotorPower = motorPower;
398	bestGearRatio = gearRatio;
399	--bestRPM = motorRpm;
400	end
401
402	if motorPower >= requiredMotorPower then
403	break;
404	end
405	end
406	--print(string.format("Selected best gear: %f, %.2fkW rpm %.2f wheel %.2f", bestGearRatio, bestMotorPower, bestRPM, wheelSpeedRpm,));
407
408	return bestGearRatio;
409	end

getBestGear

Description

Returns best gear

Definition

getBestGear(float acceleration, float wheelSpeedRpm, float accSafeMotorRpm, float requiredMotorPower, float requiredMotorRpm)

Arguments

float	acceleration	acceleration
float	wheelSpeedRpm	wheel speed rpm
float	accSafeMotorRpm	acc save motor rpm
float	requiredMotorPower	required wheel torque
float	requiredMotorRpm	required motor rpm

Return Values

float	bestGear	best gear
float	gearRatio	gear ratio

Code

420	function VehicleMotor:getBestGear(acceleration, wheelSpeedRpm, accSafeMotorRpm, requiredMotorPower, requiredMotorRpm)
421	if math.abs(acceleration) < 0.001 then
422	acceleration = 1;
423	if wheelSpeedRpm < 0 then
424	acceleration = -1;
425	end
426	end
427	if acceleration > 0 then
428	if self.minForwardGearRatio ~= nil then
429	local wheelSpeedRpm = math.max(wheelSpeedRpm, 0);
430	local bestGearRatio = self:getBestGearRatio(wheelSpeedRpm, self.minForwardGearRatio, self.maxForwardGearRatio, accSafeMotorRpm, requiredMotorPower, requiredMotorRpm);
431	return 1, bestGearRatio;
432	else
433	return 1, self.forwardGearRatios[1];
434	end
435	else
436	if self.minBackwardGearRatio ~= nil then
437	local wheelSpeedRpm = math.max(-wheelSpeedRpm, 0)
438	local bestGearRatio = self:getBestGearRatio(wheelSpeedRpm, self.minBackwardGearRatio, self.maxBackwardGearRatio, accSafeMotorRpm, requiredMotorPower, requiredMotorRpm);
439	return -1, -bestGearRatio;
440	else
441	return -1, -self.backwardGearRatios[1];
442	end
443	end
444	end

updateGear

Description

Update gear

Definition

updateGear(float acceleration)

Arguments

float

acceleration

Code

449	function VehicleMotor:updateGear(acceleration, dt)
450	local requiredMotorPower = math.huge;
451	if (acceleration >= 0) == (self.gearRatio >= 0) then
452	requiredMotorPower = self.requiredMotorPower;
453	end
454	local requiredMotorRpm = PowerConsumer.getMaxPtoRpm(self.vehicle)*self.ptoMotorRpmRatio;
455	-- 1) safe rpm for acceleration is 10% of the motor max rpm, so it will take at least 10 frames (=0.16s) until a vehicle has fully accelerated
456	-- 2) replaced lastSpeedReal with clutchRPM/gearRatio => better acceleration when using high values for differentials and steeringAngle is at max/min
457	local wheelSpeedRpm;
458	if math.abs(self.gearRatio) < 0.001 then
459	wheelSpeedRpm = self.vehicle.lastSpeedRealself.vehicle.movingDirection 30000/ math.pi;
460	else
461	wheelSpeedRpm = (self.clutchRpm/self.gearRatio);
462	end
463	self.gear, self.gearRatio = self:getBestGear(acceleration, wheelSpeedRpm, self.maxRpm*0.1, requiredMotorPower, requiredMotorRpm);
464
465	if acceleration >= 0 then
466	self.speedLimitAcc = self.maxForwardSpeed * 3.6 * acceleration;
467	else
468	self.speedLimitAcc = -self.maxBackwardSpeed * 3.6 * acceleration;
469	end
470	end

getGearRatio

Description

Returns gear ratio

Definition

getGearRatio()

Return Values

float

gearRatio

gear ratio

Code

475	function VehicleMotor:getGearRatio()
476	return self.gearRatio;
477	end;

getCurMaxRpm

Description

Returns current max rpm

Definition

getCurMaxRpm()

Return Values

integer

maxRpm

current max rpm

Code

482	function VehicleMotor:getCurMaxRpm()
483	local maxRpm = self.maxRpm;
484
485	local gearRatio = self:getGearRatio();
486	if gearRatio ~= 0 then
487	--local speedLimit = self.speedLimit * 0.277778;
488	local speedLimit = math.min(self.speedLimit, math.max(self.speedLimitAcc, self.vehicle.lastSpeedReal3600)) 0.277778;
489	if gearRatio > 0 then
490	speedLimit = math.min(speedLimit, self.maxForwardSpeed);
491	else
492	speedLimit = math.min(speedLimit, self.maxBackwardSpeed);
493	end
494
495	maxRpm = math.min(maxRpm, speedLimit * 30 / math.pi * math.abs(gearRatio));
496	end
497
498	maxRpm = math.min(maxRpm, self.rpmLimit);
499	return maxRpm;
500	end;

setSpeedLimit

Description

Sets speed limit

Definition

setSpeedLimit(float limit)

Arguments

float

limit

new limit

Code

505	function VehicleMotor:setSpeedLimit(limit)
506	self.speedLimit = math.max(limit, self.minSpeed);
507	end

setRpmLimit

Description

Sets rpm limit

Definition

setRpmLimit(float limit)

Arguments

float

limit

new limit

Code

512	function VehicleMotor:setRpmLimit(rpmLimit)
513	self.rpmLimit = rpmLimit;
514	end;

GDN

LUADOC - Farming Simulator 17

Script v1.4.4.0

Engine v7.0.0.2

Foundation Reference

VehicleMotor

new

setLowBrakeForce

getMaxClutchTorque

getRotInertia

setRotInertia

getDampingRate

setDampingRate

getMaxTorque

getBrakeForce

getMinRpm

getMaxRpm

getLastMotorRpm

getLastRealMotorRpm

setLastRpm

getMotorLoad

getEqualizedMotorRpm

setEqualizedMotorRpm

getPtoMotorRpmRatio

getNonClampedMotorRpm

getClutchRpm

getTorqueCurve

getTorque

getMaximumForwardSpeed

getMaximumBackwardSpeed

calculatePhysicalMaximumForwardSpeed

calculatePhysicalMaximumBackwardSpeed

calculatePhysicalMaximumSpeed

updateMotorRpm

getBestGearRatio

getBestGear

updateGear

getGearRatio

getCurMaxRpm

setSpeedLimit

setRpmLimit