From 8e06ace99b406397d297d015c86bf4c42ce64fdd Mon Sep 17 00:00:00 2001
From: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
Date: Mon, 15 Apr 2024 17:10:09 -0400
Subject: [PATCH] Added msgs for TCS

---
 PCAN_project/hytech.sym | 20 ++++++++++++++++++++
 1 file changed, 20 insertions(+)

diff --git a/PCAN_project/hytech.sym b/PCAN_project/hytech.sym
index 69182ac..647cfab 100644
--- a/PCAN_project/hytech.sym
+++ b/PCAN_project/hytech.sym
@@ -464,6 +464,26 @@ Sig=controller_use_launch unsigned 1
 Sig=controller_use_normal_force unsigned 1
 Sig=controller_use_power_limit unsigned 1
 Sig=controller_use_pid_power_limit unsigned 1
+Sig=controller_use_tcs unsigned 1
+Sig=controller_tcs_launch_sl unsigned 8 /f:0.01
+Sig=controller_tcs_threshold unsigned 8 /f:0.01
+Sig=controller_tcs_launch_dead_zone unsigned 12 /u:Nm /f:0.01
+Sig=controller_tcs_torque_fl signed 16 /u:Nm /f:0.001
+Sig=controller_tcs_torque_fr signed 16 /u:Nm /f:0.001
+Sig=controller_tcs_torque_rl signed 16 /u:Nm /f:0.001
+Sig=controller_tcs_torque_rr signed 16 /u:Nm /f:0.001
+Sig=controller_tcs_status_fl unsigned 2
+Sig=controller_tcs_status_fr unsigned 2
+Sig=controller_tcs_status_rl unsigned 2
+Sig=controller_tcs_status_rr unsigned 2
+Sig=controller_tcs_pid_input_fl signed 16 /u:Nm /f:0.0001
+Sig=controller_tcs_pid_input_fr signed 16 /u:Nm /f:0.0001
+Sig=controller_tcs_pid_input_rl signed 16 /u:Nm /f:0.0001
+Sig=controller_tcs_pid_input_rr signed 16 /u:Nm /f:0.0001
+Sig=controller_tcs_pid_output_fl signed 16 /u:Nm /f:0.001
+Sig=controller_tcs_pid_output_fr signed 16 /u:Nm /f:0.001
+Sig=controller_tcs_pid_output_rl signed 16 /u:Nm /f:0.001
+Sig=controller_tcs_pid_output_rr signed 16 /u:Nm /f:0.001
 
 {SENDRECEIVE}