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Drive commands to the MCI:
| Code Block | ||
|---|---|---|
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id: // drive state from center console data: state: enum(off, drive, reverse, cruise) target_vel: float m/s // pedal state from pedal data: throttle: float (0.0 - 1.0) brake: float (0.0 - 1.0) |
Also takes CAN messages from pedal board to determine motor current percent (torque). This only happend when MCI is in the drive/reverse state
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| Code Block |
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id: target: data: // these are updated every 200ms velocity: uint8_t (m/s)float rpm: int16_t (-32,766 - 32,767)float bus_voltage_v: uint16_tfloat bus_current_a: uint16_tfloat mc_limit_bitset: uint8_t mc_error_bitset: uint8_t // these are updated every second motor_temp_c: int8_tfloat ? heatsink_temp_c: int8_t ?float dsp_temp_c: int8_t ?float |
Messages to center console
| Code Block |
|---|
1: - velocity left: uint16 int16 (m/s * 100) - velocity right: uint16 int16 (m/s * 100) 2: - voltage left: uint16 (v * 100) - current left: uint16 (A * 100) - voltage right: uint16 (v * 100) - current right: uint16 (A * 100) 3: - limit_bitset left: uint8_t - error_bitset left: uint8_t - limit_bitset right: uint8_t - error_bitset right: uint8_t - board_fault bitset: uint8_t - overtemp bitset: uint8_t 4: - motor_temp left: uint16_t (C * 100) - heatsink_temp left: uint16_t (C * 100) - motor_temp right: uint16_t (C * 100) - heatsink_temp right: uint16_t (C * 100) 5: - dsp_temp left: uint32_t (C * 100) - dsp_temp right: uint32_t |
FSM
There will be fsm to make sure state transitions are valid, valid transitions are
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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
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(C * 100) |