From 31439f20f79a4a87626668826214f9940b8017a5 Mon Sep 17 00:00:00 2001
From: Aiden Madaffri <contact@aidenmadaffri.com>
Date: Fri, 29 Sep 2023 11:18:28 -0500
Subject: [PATCH] Limit max motor speed to 20% in reverse

---
 Apps/Src/SendTritium.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/Apps/Src/SendTritium.c b/Apps/Src/SendTritium.c
index ba5b976c..cec0ff35 100644
--- a/Apps/Src/SendTritium.c
+++ b/Apps/Src/SendTritium.c
@@ -388,7 +388,7 @@ static void ReverseDriveHandler(){
         UpdateDisplay_SetGear(DISP_REVERSE);
     }
     velocitySetpoint = -MAX_VELOCITY;
-    currentSetpoint = percentToFloat(map(accelPedalPercent, ACCEL_PEDAL_THRESHOLD, PEDAL_MAX, CURRENT_SP_MIN, CURRENT_SP_MAX));
+    currentSetpoint = percentToFloat(map(accelPedalPercent, ACCEL_PEDAL_THRESHOLD, PEDAL_MAX, CURRENT_SP_MIN, CURRENT_SP_MAX * 0.2)); // Limit max motor speed to 20% in reverse 
     cruiseEnable = false;
     onePedalEnable = false;
 }
@@ -626,7 +626,7 @@ static void BrakeDecider(){
 void Task_SendTritium(void *p_arg){
     OS_ERR err;
 
-    // Initialize current state to FORWARD_DRIVE
+    // Initialize current state to NEUTRAL_DRIVE
     state = FSM[NEUTRAL_DRIVE];
     prevState = FSM[NEUTRAL_DRIVE];