From 68ecba30855ee822d6f487b79401839044dd353b Mon Sep 17 00:00:00 2001 From: Ben Hall Date: Thu, 5 Sep 2024 15:08:12 -0400 Subject: [PATCH] added in drivebrain messages --- PCAN_project/hytech.sym | 24 ++++++++++++++++++++++++ 1 file changed, 24 insertions(+) diff --git a/PCAN_project/hytech.sym b/PCAN_project/hytech.sym index 85e2141..53976e0 100644 --- a/PCAN_project/hytech.sym +++ b/PCAN_project/hytech.sym @@ -595,6 +595,14 @@ Sig=drivetrain_traj_torque_lim_fl signed 16 /f:0.001 Sig=drivetrain_traj_torque_lim_fr signed 16 /f:0.001 Sig=drivetrain_traj_torque_lim_rl signed 16 /f:0.001 Sig=drivetrain_traj_torque_lim_rr signed 16 /f:0.001 +Sig=drivebrain_torque_fl signed 16 /f:0.01 +Sig=drivebrain_torque_fr signed 16 /f:0.01 +Sig=drivebrain_torque_rl signed 16 /f:0.01 +Sig=drivebrain_torque_rr signed 16 /f:0.01 +Sig=drivebrain_set_rpm_fl unsigned 16 +Sig=drivebrain_set_rpm_fr unsigned 16 +Sig=drivebrain_set_rpm_rl unsigned 16 +Sig=drivebrain_set_rpm_rr unsigned 16 {SENDRECEIVE} @@ -1811,3 +1819,19 @@ Sig=fl_motor_torque 0 Sig=fr_motor_torque 16 Sig=rl_motor_torque 32 Sig=rr_motor_torque 48 + +[DRIVEBRAIN_TORQUE_LIM_INPUT] +ID=0F1h +Len=8 +Sig=drivebrain_torque_fl 0 +Sig=drivebrain_torque_fr 16 +Sig=drivebrain_torque_rl 32 +Sig=drivebrain_torque_rr 48 + +[DRIVEBRAIN_SPEED_SET_INPUT] +ID=0F2h +Len=8 +Sig=drivebrain_set_rpm_fl 0 +Sig=drivebrain_set_rpm_fr 16 +Sig=drivebrain_set_rpm_rl 32 +Sig=drivebrain_set_rpm_rr 48