Control motor current instead of battery current

[AckmaniacSoftware]

Wouldn't it be better to have control about the motor current instead of the battery current. Because then you have direct control about the torque the motor generates. I see that the max motor current is set to 30 so it could be a smooth transition to watts or battery current once the max speed of the motor is reached.
Sadly i don't have the motor yet but when i see the code it seems that the feeling later on will be very powerful and a bit jerky at low speeds and less powerful at higher speeds. Even if you apply the same torque all the time.
I know i sound stupid because i did not ride the motor yet but i come from electric longboards where i optimized the firmware for hundreds of hours.
There i introduced the watt control mode which provides exactly the described behavior. It starts with motor current control and then when the motor is close to it's maximum speed it switches smoothly over to watt control.

Guess that could all be implemented in the ebike_app.apply_torque_assist() function.

By that the reaction could be a lot smoother and that saves energy, generates less heat and less wear. Only downside is that it feels less powerful because the motor doesn't react like a terrier at low speeds but it applies additional torque (not power) linear to your torque input.

Edit: looks that apply_power_assist() for POWER_ASSIST_MODE is a multiplied of the human watts and could work a bit like my described behavior.
Could somebody please tell how the the 2 modes feel like compared to each other in real life?

[casainho]

Well, motor current is left constant while someone want to start play with it. Maybe you can be the developer to try improve the behavior, make tests and then propose your change.

[AckmaniacSoftware]

Please have a look at this commit, did not compile it but i hope you understand the idea (as said before i do not have the motor yet so can't test myself)
AckmaniacSoftware@02f58d0

Edit: fixed the fmapf issue as well
AckmaniacSoftware@ac81288

[casainho]

Currently, this is not a priority for me. I will back to this later. Thank you.

[Frans-Willem]

Trying to look through your code, and I have one request:
If you are asking people to review, please clean up your commits. Make sure that all the green/red stuff I see is relevant to the change you're making. Doing this will greatly increase your chances of people actually taking the time to look through your proposed changes.

Some examples of things that (in my opinion) should've been cleaned up:

• AckmaniacSoftware@02f58d0#diff-9084047c203de63789e91b8491b59df5R368
  You changed one number, meaning I'd like to see one tiny bit of green indicating what you changed.
  Instead, I see one line removed, two added, one commented out duplicate line, and I have to actively search for what you changed and what your intention was.
• AckmaniacSoftware@02f58d0#diff-9084047c203de63789e91b8491b59df5R384
  You probably tried to change this, but instead ended up keeping it as-is. I'd recommend while creating your commit to just revert these lines before committing.

Apart from this, I haven't had the time to look in-depth at your proposal, but will try to later.

[casainho]

Let's see if this goes to future V0.21.0.