...
| Code Block |
|---|
1:
- velocity left: int16 (mm/s)
- velocity right: int16 (mm/s)
2:
- voltage left: uint16 (mV)
- current left: uint16 (mA)
- voltage right: uint16 (mV)
- current right: uint16 (mA)
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
- precharge_state: uint8
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 (C/100) |
Precharge:
precharge is handled by the center console sending the desired state to be in to motor controller, and motor controller sending the precharge status to center console.
if precharge command is high, the precharge pin should be set high to begin precharge, or do nothing if precharge is already inprogress/complete as the pin was already high. If precharge command is low, set the pin the low to begin discharge, or do nothing if the discharging is already in progress/complete when the pin is already low.