From 2ce72675c87b1092566e46589b5f93c33b7128f1 Mon Sep 17 00:00:00 2001 From: walkermburns Date: Mon, 8 Apr 2024 21:18:57 -0400 Subject: [PATCH] added messages for simple torque controllers --- PCAN_project/hytech.sym | 27 +++++++++++++++++++++++++++ 1 file changed, 27 insertions(+) diff --git a/PCAN_project/hytech.sym b/PCAN_project/hytech.sym index ab97429..7b5bd87 100644 --- a/PCAN_project/hytech.sym +++ b/PCAN_project/hytech.sym @@ -408,6 +408,15 @@ Sig=pid_tv_fl_delta signed 10 /f:0.1 Sig=pid_tv_fr_delta signed 10 /f:0.1 Sig=pid_tv_rl_delta signed 10 /f:0.1 Sig=pid_tv_rr_delta signed 10 /f:0.1 +Sig=torque_request signed 16 /f:0.001 /ln:"acceleration torque request" // The torque request calculated from the accelleration request and the maximum torque +Sig=front_torque_scale signed 8 /f:0.00787402 /ln:"front_torque_scale" // the front/rear torque scaling +Sig=accel_request_state unsigned 1 /ln:"acceleration_request_state" // The current state of the acceleration request (0 = decelerating, 1 = accelerating) +Sig=rear_torque_scale signed 8 /f:0.00787402 /ln:"rear_torque_scale" // the front/rear torque scaling +Sig=front_regen_scale signed 8 /f:0.00787402 /ln:"front_regen_torque_scale" // the front/rear torque scaling +Sig=rear_regen_scale signed 8 /f:0.00787402 /ln:"rear_regen_torque_scale" // the front/rear torque scaling +Sig=launch_control_state unsigned 2 // The current state of the launch controller (LAUNCH_NOT_READY, LAUNCH_READY, LAUNCHING) +Sig=initial_launch_target unsigned 16 /u:rpm // The initial launch speed target requested by the launch controller +Sig=algo_active unsigned 1 /ln:"launch_algorithm_active" // State of whether the launch algorithm has taken over control from the initial launch target {SENDRECEIVE} @@ -1272,3 +1281,21 @@ Sig=pid_tv_fl_delta 0 Sig=pid_tv_fr_delta 10 Sig=pid_tv_rl_delta 20 Sig=pid_tv_rr_delta 30 + +[TC_SIMPLE] +ID=0C9h // MCU's simple torque controller +Len=8 +Sig=torque_request 0 +Sig=front_torque_scale 16 +Sig=accel_request_state 48 +Sig=rear_torque_scale 24 +Sig=front_regen_scale 32 +Sig=rear_regen_scale 40 + +[TC_SIMPLE_LAUNCH] +ID=0CAh +Len=8 +Sig=launch_control_state 0 +Sig=initial_launch_target 8 +Sig=algo_active 2 +Sig=speed_setpoint_rpm 24