MCI
- Mitchell Langdon Ostler
- ShiCheng Lu
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 |
|
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|
|---|---|---|
Timing is ok | no watchdog timeouts with message every 100ms |
|
MCP2515 timing | messages are sent to wavesculptor every 100ms | 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 |
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