Input states is provided by centre_console and pedal CAN messages:
| Code Block |
|---|
drive_output: (from centre_console) target_velocity: uint32_t (m/s) drive_state: uint8_t (DRIVE, NEUTRAL, REVERSE) cruise_control: uint8_t (bool) regen_braking: uint8_t(bool) precharge: uint8_t(unused) pedal_output: (from pedal) throttle_output: float32 (0 to 1) brake_output: float32 (0 to 1) |
The expected output is a can message to the wavesculptor from MCP2515
| Code Block |
|---|
message_id: 0x01
current: float32
velocity: float32 |
Message Behaviour
Input state | Drive state | Expected | Notes | state ||
|---|---|---|---|---|---|
throttle 0, brake 0 regen off, cruise off | Drive/Reverse/Neutral | current 0 velocity 0 | |||
throttle 0>0, brake 0 regen off, cruise off | Drive | current [throttle_outputl] velocity 20,000 | |||
Neutral | current 0 velocity 0 state Drive throttle 0.5, brake 0 | ||||
Reverse | current [throttle_outputl] velocity -20,000 | ||||
throttle any, brake >0 regen off, cruise off, | Drive/Reverse/Neutral | current 0.5 velocity 20,000 state Neutral throttle 0.50 | |||
throttle 0, brake 0 regen on, cruise off | Drive/Reverse | current 1 velocity 0 | |||
Neutral | current 1 velocity 0 | Should this be current 0 velocity 0? | |||
throttle >0, brake 0 regen offon, cruise off | Drive | current [throttle_outputl] velocity 20,000 | |||
Neutral | current 0 velocity 0 | state Reverse throttle 0.5, brake 0 regen off, cruise off, | current -0.5 velocity 0 | ||
state Drive/Neutral/ReverseReverse | current [throttle_outputl] velocity -20,000 | ||||
throttle any, brake >0 regen on, cruise off | Drive/Reverse | current 1 velocity 0 | |||
Neutral | current 1 velocity 0 | ||||
throttle 0, brake 0 regen on, cruise on | Drive/Reverse | current 1 velocity [target_velocity] | |||
Neutral | current 1 velocity 0 | Should this be current 0 velocity 0? | |||
throttle >0, brake 0 regen on, cruise on | Drive/Reverse | current 1 velocity [target_velocity] | |||
Neutral | current 0 velocity 0 | ||||
throttle any, brake >0 regen offon, cruise off, on | Drive/Reverse | current 1 velocity 0 | |||
Neutral | current 1 velocity 0 | ||||
Timing is ok | no watchdog timeouts with message every 100ms | |
ooutput is ok | ooutgoing motor controller messages are ok, sent every 100ms |