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The MC requires a message from the MCI every 250 ms. If the MC does not receive a message in this time period it will shut down. So the MCI must transmit a periodic message to the MC over CAN. The message will consist of the target velocity and target current percentage requested by the DC.
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Drive Command
The DC will send a message to the MCI through the system CAN bus requesting to set the car in either cruise, throttle, or regenerative breaking mode. The MCI will set its targets to the values requested, which will be transmitted to the MC during the next periodic broadcast message.
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