Input states is provided by centre_console and pedal CAN messages:
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
message_id: 0x01 current: float32 velocity: float32
Message Behaviour
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 | 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 >0, brake 0 regen off, cruise on | 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 on | Drive/Neutral/Reverse | current 0 velocity 0 |
Timing is ok | no watchdog timeouts with message every 100ms | |
output is ok | ooutgoing motor controller messages are ok, sent every 100ms |