Braking Systems

Lynx implements four independent braking sources, each configurable through dedicated parameters. The highest braking value is forwarded to the driver block as cmd (driver mode 8). Signal flow diagram below shows braking system overview, with detailed descriptions in subsequent chapters.

Brake Signal Monitoring

Variable	Description	Range
/sig_brake	Final brake output after max selection	[0-1]
/brake/sig_combrake	Accelerator brake level	[0-1]
/brake/sig_dbrake	Dynamic brake level	[0-1]
/brake/sig_pasbrake	Negative cadence brake level	[0-1]
/brake/sig_sbrake	Static brake level	[0-1]

info

Memory-optimized builds may exclude monitoring signals while maintaining functionality. /sig_brake remains always available.

Brake Current Configuration

Set braking current reference via /driver/irefr. If set to 0, system uses /driver/iref as reference.

For detailed configuration, see Driver Settings - References.

Current Limitations

Braking force limits:

• /driver/limiter/ibneg: Maximum battery regenerative current
• /driver/limiter/pneg: Maximum battery regenerative power
• /driver/limiter/eblimit: BMS-imposed limitations

Details in Driver Settings - Limiters.

Map-Based Brake Control

Brake input overrides accelerator by default. Configure brake behavior per map using options parameter.

Option Value	Function
1	Disable static brake
2	Disable dynamic brake
3	Disable both static and dynamic brake
...	Additional options

Note: Bitwise parameter

Configure options in /maps/mapX for map-specific brake behavior.