Page Comparison

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• from the table, the key values are:

  • brake_threshold: currently unknown

  • throttle/regen_threshold: currently_unknown

  • MAX_REGEN: 1.0f

  • MAX_REGEN_IN_THROTTLE: currently unknown

  • MAX_CURRENT: 1.0f

drive_output_fsm

• has a can rx handler that processes an event directly upon drive state message

  • acks the message upon transitioning

  • allows repeat state commands (i.e. being set to drive while in drive is fine)

• has another rx handler that processes fault messages

  • goes to neutral

  • acks the message

• states:

  • off

    • off → drive: drive event gets raised from a drive state message.

    • off → reverse: reverse event gets raised from drive state message.

  • drive

    • drive → off: must happen immediately, can happen using a method and calling fsm_process_event explicitly.

    • drive → reverse: reverse event gets raised from drive state message. (filtered at center console)

    • drive → cruise: cruise control ON message gets received.

  • reverse

    • reverse → drive: trivial (filtered at center console)

  • cruise:

    • cruise → cruise:

      • increase/decrease target speed

    • cruise → drive:

      • cancellation: through brake/throttle press

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