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simulate_powertrain_race_aware

rust_robotics_control::racing_mppi_powertrain

Function simulate_powertrain_race_aware 

Source 
pub fn simulate_powertrain_race_aware(
    config: MotorMppiConfig,
    params: PowertrainParams,
    lap: &RacingGateLap3D,
    start: PowertrainState,
    max_steps: usize,
    target_laps: usize,
) -> RoboticsResult<PowertrainLapReport>
Expand description

Drive the powertrain-aware MPPI controller through the real powertrain.

The controller rolls candidates out through PowertrainParams::step, so it plans within the lag and battery-limited authority instead of assuming ideal actuators. On a drained pack this conserves the authority the unaware controller wastes against the ceiling.