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simulate_powertrain_race_budgeted

rust_robotics_control::racing_mppi_powertrain

Function simulate_powertrain_race_budgeted 

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

Drive a charge-budgeted powertrain-aware controller through the powertrain.

Like simulate_powertrain_race_aware but the controller carries a ChargeBudget that penalizes below-reserve current draw. Over a multi-lap race the budgeted controller eases off as it nears the reserve, trading raw lap progress for charge held back in the pack. A zero-weight budget recovers the plain aware controller.