Dev

[Rui-Xiaoyu]

Summary by Sourcery

Introduce configurable biased power allocation for 3508 motor groups, adding support for reserve-based distribution while keeping existing allocation as the default path.

New Features:

• Add AllocationBias3508 configuration struct and setter to control reserve fractions and per-motor allocation bias for 3508 motors.

Enhancements:

• Extend 3508 power allocation logic to optionally reserve a portion of available power and redistribute the remainder with biased weighting while preserving current behavior when bias is disabled.
• Improve inline documentation and comments around 3508 power modeling, residual calculation, and RLS parameter identification for better maintainability.

[sourcery-ai]

Reviewer's Guide

Adds configurable biased power allocation for 3508 motor groups, introducing a two-stage reserve-then-distribute algorithm while preserving the existing mixed error/ratio scheme as the default, and documents parts of the RLS-based power model parameters.

File-Level Changes

Change	Details	Files
Introduce configurable allocation bias mechanism for 3508 motors, with a reserve power pool and weighted residual distribution on top of the existing allocation algorithm.	Add AllocationBias3508 struct to configure reserve fraction, per-motor reserve weights, and per-motor allocation weight scales with sensible defaults Store allocation bias state inside PowerControl and protect updates with the existing mutex Implement SetAllocationBias3508 to clamp reserve_fraction to [0,1], floor reserve_weight to non-negative, and default allocation_weight_scale to 1.0 when unset Branch power distribution in CalculatePowerControlParam to use either the original mixed error/required-power weights or the new biased path when enabled In the biased path, compute a reserve power pool shared among positive-power motors, allocate per-motor reserve quotas by reserve_weight, then redistribute remaining available power using error/requirement-based weights scaled by allocation_weight_scale Ensure per-motor final power quota does not exceed its own requested motor power and fall back to previous current outputs for non-positive-power or no-demand motors	PowerControl.hpp
Refine power model documentation and comments related to RLS identification and motor power usage.	Clarify comment that measured chassis power is used to correct the 3508 power model parameters Adjust comments to explain that negative power contributes to increasing available power Add comments on RLS<2> and the samples_3508_/params_3508_ matrices to document their roles in identifying quadratic loss model parameters Add member allocation_bias_3508_ to PowerControl with a descriptive comment	PowerControl.hpp

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[sourcery-ai]

Hey - I've left some high level feedback:

• The biased and unbiased allocation paths duplicate a lot of weight/quotas logic; consider extracting common computations (e.g., error/prop weight calculation and quota application) into helper functions to reduce complexity and chances of divergence between the two paths.
• The temporary arrays reserve_power_3508, residual_power_3508, and weighted_residual_3508 are large stack allocations repeated every call; consider using std::array as members (or reusing existing buffers) to avoid per-call stack pressure and make bounds handling clearer.

Prompt for AI Agents

Please address the comments from this code review:

## Overall Comments
- The biased and unbiased allocation paths duplicate a lot of weight/quotas logic; consider extracting common computations (e.g., error/prop weight calculation and quota application) into helper functions to reduce complexity and chances of divergence between the two paths.
- The temporary arrays `reserve_power_3508`, `residual_power_3508`, and `weighted_residual_3508` are large stack allocations repeated every call; consider using `std::array` as members (or reusing existing buffers) to avoid per-call stack pressure and make bounds handling clearer.

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