April 27, 2019 Drive Test Notes

Participants

Validate the new driver controls and motor interface to make sure we can send reliable drive commands to our motors
Make sure our car drives before Karl leaves Waterloo

New CAN based driver controls seems to be working as expected. No brake lights flickering or throttle cutting out as seen in ASC 2018
New Pre-Charge significantly reduced the pre-charge time to < 5 seconds.
New Motor Interface based on the MCP2515 forwarded all messages without any issues for extended periods of time
Installed T-connectors on Motor bus to make sniffing the Motor CAN bus and running PhasorSense easier
Debugging with a DBC and new PCAN-USB dongles was a breeze
We were able to remove the wheel after hammering for a long time

ADC driver seems to be broken when LTO is disabled, or when Continuous mode is enabled. Currently there's a workaround in firmware, but we should look at the binaries and figure out what's going on here.
SPI drivers had been broken on master

The car seems to turn off whenever the lights are turned on. There's no BPS fault or any other abnormal activity on CAN. Could this be a DC-DC overcurrent/under voltage?
The aux battery even when charged cannot close contactors for more than a few times. Look into either replacing power distribution or the battery.
The power pins seem to behave weirdly for the spare and motor controller (PA7, PB1)

The left/driver side motor that we used ASC 2018 stopped working. Consider re-harnessing the motor. We swapped in the back-up motor to the left-side.
We hit the SWOvercurrentLimit on the WS20s (mainly right motor, sometimes left motor) when accelerating quickly. This limit is currently set to 67 Arms (Actual limit = 67 * sqrt(2) * 15% overcurrent = 108.965A). We don't seem to hit this if we press the accelerator pedal slowly, so this may not be that serious of an issue.

Kill switch did not work. This should be solved when we swap in the new BMS Carrier Rev 4 once validation is complete.
Current sense didn't seem to be working. Investigate this further

One of the battery box rails came off on the driver side. We also took off the spring/sleds for ease of removal.
Missing mounting screws for WaveSculptor 20s
Verify replaced motor is installed/torqued correctly
Create PCB mount for Pre-Charge/Motor Interface
Create PCB mount for Pedal board
Create PCB mount for steering interface board
Create PCB mount for new BMS Carrier Board
Windshield is pretty scratched/dirty. We should consider polishing or replacing this for visibility. Also it's missing a few screws.
The driver seat is not installed properly and will tilt back when you lean on the back.
Secure the mount for the brake potentiometer
Look into a better way to remove wheels
Fix the sketchy array prop rod ends, which are falling apart
Steering wheel/column is not mounted properly
Seems like there might be air in the brake lines? Pedal goes to the bottom pretty easily.
There’s a clicking noise on the right front tire. Investigate this further.

Clean up harnessing in the front of the car after the boards are mounted. Add wiring loom to all exposed wires.
Driver side DRL doesn't seem to be working. Check harness and front lights board
Finish validation for BMS Carrier board and swap that in for the master battery box - Liam Hawkins, Aashmika Mali
Finish bring-up for new AFEs and make sure everything still works
Wire in temperature sensors for Aux battery and DC-DC
Consider validating and integrating Power Distribution Rev 3, or work on Rev 4 and swap that in when complete
Test and validate cruise control functionality and logic
Test and validate/add regen logic
Provide drivers with a way of manually disabling regen braking (useful for brakes testing)
Verify BPS strobe and BPS dash indicator works as intended
Reharness the broken motor to use as a spare for FSGP 2019
Validate and integrate solar sense into the car
Figure out what's going on with our ADC and SPI drivers
Add a way to manually reset the motor controllers (Using control stalk maybe?) incase we hit a SW limit.
Attempt to dump more data over CAN when a fault condition is reached
Create pinout/wiring diagram for PJB