Page Comparison

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id: 
data:
  state (off, drive, reverse, cruise): 

Also takes CAN messages from pedal board to determine motor current percent (torque). This only happend when MCI is in the drive/reverse state

MCI status messages, groups by motor controller:

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FSM starts in the off state

off → drive, reverse

drive → cruise (only when speed is within a CRUISE_SPEED_MIN and CRUISE_SPEED_MAX), off, reverse (only when speed is 0)

cruise → off, drive

reverse → off, drive (only when speed is 0)