Solved LUA Torque vectoring with dual electric motor

Hi everyone, I am currently developing a Formula SAE mod for my team.
The vehicle has two independent electric motors, respectively, driving the left and right rear wheels through a chain.

We would like to implement a torque vectoring system for the car that takes various inputs from the car sensors and manages the power of each motor accordingly.
I checked other electric vehicles in the game, and the closest one is the E-SBR, which uses brakes to keep the car stable.
The problem is that even though I found the LUA script that does this, I was not able to comprehend what anything does in that file.

The powertrain setup for each motor is quite simple: motor -> torsionReactor -> shaft -> wheel

I would love for someone to guide me through the basics of LUA scripting for BeamNG so that I can at least try to make something work.

--- EDIT ---

I reached out to Zeit (if you know the tag pls tag him) on discord and he gave me this really simple but perfect solution:
I can control the motors separately by using a separate custom throttle value for each of them.
This is the code for a very basic and pretty useless torque vectoring:

Code:

local M = {}

M.type = "auxilliary"
M.relevantDevice = nil

local abs = math.abs

local function init(jbeamData)
   -- adding custom values for separate throttle
    electrics.values.throttle_left = 0
    electrics.values.throttle_right = 0
end

local function updateGFX()
    -- grab data
    local throttle = electrics.values.throttle or 0
    local brake = electrics.values.brake or 0
    local wheelSpeed = electrics.values.wheelSpeed or 0
    local wheelSpeed = electrics.values.wheelSpeed or 0
    local steer = electrics.values.steering or 0-- positive is right turn
    
    -- here you can control how to apply thtottle for each motor
    if throttle > 0 then
        electrics.values.throttle_left = abs(throttle - steer/360) + 0.1
        electrics.values.throttle_right = abs(throttle + steer/360) + 0.1
    else
        electrics.values.throttle_left = 0
        electrics.values.throttle_right = 0
    end
    
    --log("D", "Torque Vectoring", string.format("Left torque: %.2f ~~~ Right torque: %.2f", electrics.values.throttle_left, electrics.values.throttle_right))
end

M.init = init
M.updateGFX = updateGFX

return M

I than had to "tell" to each motor which input to take as his throttle, I did it by adding the "electricsThrottleName" variable to the motor parameters. This is how:

Code:

    "leftMotor":{
        "torque":[
            ["rpm", "torque"],
            [0, 50],
            [300, 56],
            [6500, 56],
            [8000, 40],
        ],
        "electricsThrottleName": "throttle_left", // throttle for leftMotor is called "throttle_left"
        "maxRPM":8000,
        "maxRegenPower":150,
        "maxRegenTorque":100,
        "inertia":0.10,
        "friction":2,
        "dynamicFriction":0.0005,
        "electricalEfficiency":0.96,
        "torqueReactionNodes:":["rlm1","rlm5","rlm8"],
        "energyStorage": "mainBattery",
        "electricsThrottleFactorName": "throttleFactorRear",

        //node beam interface
        "waterDamage": {"[engineGroup]:":["rear_left_motor_waterdamage"]},
        "engineBlock": {"[engineGroup]:":["rear_left_motor_block"]},
        "breakTriggerBeam":"rear_left_motor",
        "uiName":"Rear Left Motor",

        "soundConfig": "soundConfigRear",
    },
    "rightMotor":{
        "torque":[
            ["rpm", "torque"],
            [0, 50],
            [300, 56],
            [6500, 56],
            [8000, 40],
        ],
        "electricsThrottleName": "throttle_right", // throttle for rightMotor is called "throttle_right"
        "maxRPM":8000,
        "maxRegenPower":150,
        "maxRegenTorque":100,
        "inertia":0.10,
        "friction":2,
        "dynamicFriction":0.0005,
        "electricalEfficiency":0.96,
        "torqueReactionNodes:":["rrm5","rrm1","rrm4"],
        "energyStorage": "mainBattery",
        "electricsThrottleFactorName": "throttleFactorRear",

        //node beam interface
        "waterDamage": {"[engineGroup]:":["rear_right_motor_waterdamage"]},
        "engineBlock": {"[engineGroup]:":["rear_right_motor_block"]},
        "breakTriggerBeam":"rear_right_motor",
        "uiName":"Rear Right Motor",

        "soundConfig": "soundConfigRear",
    },

 

Some time ago I came across this big thread about making two separate powertrains: https://www.beamng.com/threads/how-to-create-seperate-inputs-for-twin-engine-car.70076/, hope you'll find it helpful!

 

Thank you, I very much appreciate the reply. I sorted it out thanks to a guy on discord which gave me a relly simple but effective way to do what I wanted. I''l update the question now and mark it as solved