...
Input state | Drive state | Expected | Notes | ||
|---|---|---|---|---|---|
throttle 0, brake 0 regen off, cruise off | Drive/Reverse/Neutral | current 0 velocity 0 | |||
throttle >0, brake 0 regen off, cruise off | Drive | current [throttle_outputl] velocity 20,000 | |||
Neutral | current 0 velocity 0 | ||||
Reverse | current [throttle_outputl] velocity -20,000 | ||||
throttle any, brake >0 regen off, cruise off, | Drive/Reverse/Neutral | current 0 velocity 0 | |||
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 on, cruise off | Drive | current [throttle_outputl] velocity 20,000 | |||
Neutral | current 0 velocity 0 | ||||
Reverse | 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? | |||
Reverse | current 1 velocity 0 | ||||
throttle >0, brake 0 regen on, cruise on | Drive | current [throttle_outputl] velocity 20,000 | |||
Neutral | current 0 velocity 0 | ||||
Reverse | current [throttle_output] velocity -20,000 | ||||
throttle any, brake >0 regen on, cruise on | Drive/Reverse | current 1 velocity 0 | |||
Neutral | current 1 velocity 0 | ||||
throttle 0, brake 0 regen off, cruise on | Drive | current 1 velocity [target_velocity] | |||
Neutral | current 0 velocity 0 | ||||
Reverse | current 0 velocity 0 | ||||
throttle any>0, brake >00 regen onoff, cruise on | Drive/ | current [throttle_outputl] velocity 20,000 | |||
Neutral | current 0 velocity 0 | ||||
Reverse | current 1 velocity 0 | Neutral | current 1[throttle_outputl] velocity -20,000 | ||
throttle any, brake >0 regen off, cruise on | Drive/Neutral/Reverse | current 0 velocity 0 |
Timing is ok | no watchdog timeouts with message every 100ms | |
MCP2515 timing | messages are sent to wavesculptor every 100msooutput | sent every 150ms??? but no time outs… weird |
output is ok | ooutgoing motor controller messages (wavesculptor statuses) are ok, sent every 100ms | |
Precharge | messages are only sent to motor controller after precharge is complete |