Drive Transitions

Neutral to Drive:

• close mci relays

• tell mci to enable the drive commands

  • can be acked instantly, and drive button can light up.

    • what can go wrong after?

Drive to Neutral

• tell mci to disable drive commands

  • can be acked instantly

• open mci relays

  • can be acked instantly

Drive to Parking

• same as drive to neutral

• apply ebrake

can messages for this?

Fault

• broadcast drive_transition fault

• repeatedly broadcast open relays

• repeatedly broadcast disable_drive command.

Can Messages:

drive_output: this message needs to be acked REAL QUICK! our drive transition needs to happen almost instantly.