Pedal Assist System

Lynx features an advanced pedal assist system that processes both cadence and torque inputs.

warning

LYNX 5.x.x introduces a completely reworked PAS system. Old parameters are not compatible - new parameters must be configured for desired behavior.

Signal processing flow:

• Cadence input: Digital pulses normalized by Tachopas block → /pas/cadence [RPS]
• Torque input: Normalized by ASC block → /pas/sig_torque [0-1]
• Combined signals processed and multiplied by paslvl
• Final shaping in /pas/cscpas block → /pas/sig_pas [0-1]
• Output mapped to driver current mode

Setup Guide

1. Begin by setting paslvl to 1.0 for full power
2. Configure IN_cadence and IN_torque input pins (Input mapping guide)
3. Configure tachopas block - set ppr to match the cadence sensor magnet count
4. Adjust asctorque block to achieve full scale at maximum pedal force
5. Configure cscpas block for desired response:
   • ldz (low deadzone) for assist timing
   • lpf for signal smoothing
6. Fine-tune paslvl according to power map for desired torque output

info

For cadence-only configurations, leave IN_torque at 0 (bypasses asctorque, sig_torque remains at 1)

Variables

info

• The mentioned variables are located in the folder /pas.
• If you do not see pas folder in the parameters folder, your controller does not have PAS support. Check FW modification for more info

Parameter	Description
pasopts	1 - Enables reverse pedaling brake
asctorque	ASC block for torque processing
tachopas	Tachopas block for cadence input processing
cscpas	CSC block for PAS signal shaping

State variable	Description
paslvl	Current PAS level multiplier (map dependent)

Mode Integration

• System prioritizes the highest value between PAS and accelerator
• PAS automatically disables during reverse (sig_acc negative)
• Brake and seatswitch inputs override PAS