Feature/steering sys and load cell interface (#81)

* integrating CASE

* adding in normalized steering

* semi-fully integrated. compiling but un-tested version that connects to the controller

* updated to newest CASE gen

* seemingly working on car, everything enabled

* added CASE

* pushing fix for brakes no stoppy

* adding more fixes to tc mux tests

* updating tc mux tests

* integrating check for VN status to check whether or not it has been active for long enough

* added beginnings of the unit test for CASE

* adding instructions for CASE updating

* removed * -1 for CASE torque request to make sure controller algos are getting negative torque request

* Update CASE library, added TCS, working brakes

* fix CASE & pedal tests

* refactor

* clean up based on PR comments

* add keepalive for steering system

* add load cell interface

* Update CASE, added new inputs

* Fixed test config

* Model change to reflect variable name better

* verified steering system works

* remove used function

* fixed implausibility typo. fixed warnings

* emergency PosSpeedLimit fix

* emergency PosSpeedLimit fix

* New CASE inputs, flashed and working 4-20-24

* Added decoupled yaw pid and discontinuous brakes, torque and regen limit now handled by CASE

* Update inputs in test_CASE

* fixed power limit jerking at low rpm (should not be possible but just in case)

* Fixed regen limit not working @ 0 rpm

* re-enabling all limits

* CASE Update, working regen 5kph limit, mech power limit, drive/brake torque bias, flashed on car 4/26/24

* update can lib to 80

* removing old way of integrating CASE_lib

---------

Co-authored-by: walkermburns <[email protected]>
Co-authored-by: Luke Chen <[email protected]>
Co-authored-by: Dopp-IO <[email protected]>

.github/workflows/platformio.yml

@@ -6,6 +6,9 @@ jobs:
   run_build_and_tests:
     runs-on: ubuntu-latest
     steps:
+    - uses: webfactory/[email protected]
+      with:
+          ssh-private-key: ${{ secrets.CASE_SSH_PRIVATE_KEY }}
     - name: Check out the repository
       uses: actions/checkout@v3
 

README.md

@@ -1,3 +1,21 @@
+## using and updating CASE
+
+#### DO THIS ONCE
+you will need to add ssh key to your github account to allow platformio to pull in CASE as a library. 
+
+[follow these instructions on how to do this.](https://docs.github.com/en/authentication/connecting-to-github-with-ssh/adding-a-new-ssh-key-to-your-github-account)
+
+#### UPDATING CASE
+
+to update case, look for the latest tag at this repo: https://github.com/hytech-racing/CASE_lib/tags
+
+and then in the `platformio.ini` file in this repository, change the number at this line:
+
+`git+ssh://[email protected]/hytech-racing/CASE_lib.git#v(INSERT NUMBER HERE)`
+
+for example: 
+    ```git+ssh://[email protected]/hytech-racing/CASE_lib.git#v34```
+
 ## building testing and running
 This project uses [Platformio](https://docs.platformio.org/en/latest/) for building, testing, checking and packaging. 
 
@@ -78,6 +96,16 @@ then you can select this configuration to be used with [this c/c++ extension](ht
 
 to select the configuration, use the hotkey `ctrl+shift+p` to open the command prompt in vscode, and then type \`C/C++: Select a Configuration\` and then select your configuration for which you named above.
 
+## updating CASE (manual / old way)
+
+1. generate the .zip file in HyTech_sim by generating the code for CASE
+2. while in the HyTech_sim directory, there exists `process_lib.py`. use this by running:
+```
+python3 process_lib.py HT08_CONTROL_SYSTEM.zip /path/to/MCU/lib/CASE_lib CASE_lib
+```
+while ensuring that you fill in your path to MCU.
+
+3. profit
 
 ## Design Lore of the Code
 ### outline

flash.sh

@@ -0,0 +1,3 @@
+#!/bin/bash
+pio run --target upload --environment teensy41
+pio run --target upload --environment teensy41

include/MCU_rev15_defs.h

@@ -63,8 +63,6 @@ const int BRAKE2_PEDAL_OOR_MIN = 90;
 const int BRAKE1_PEDAL_OOR_MAX = 4000;
 const int BRAKE2_PEDAL_OOR_MAX = 4000;
 
-
-
 const float DEFAULT_PEDAL_DEADZONE = 0.05f;
 const float DEFAULT_PEDAL_IMPLAUSIBILITY_MARGIN = 0.10f;
 
@@ -73,7 +71,7 @@ const float BRAKE_ACTIVATION_PERCENTAGE = 0.05f;
 const float BRAKE_MECH_THRESH = 0.40f;
 
 // Load Cell Defs to convert raw to lbs
-// lbs = (scale)*raw + offset
+// lbs = (raw + offset) * scale
 
 const float LOADCELL_FL_SCALE = 0.0553;
 const float LOADCELL_FL_OFFSET = 15.892 / LOADCELL_FL_SCALE;
@@ -86,4 +84,12 @@ const float LOADCELL_RL_OFFSET = 21.842 / LOADCELL_RL_SCALE;
 
 const float LOADCELL_RR_SCALE = 0.0588;
 const float LOADCELL_RR_OFFSET = 19.576 / LOADCELL_RR_SCALE;
+
+// Steering parameters
+const float PRIMARY_STEERING_SENSE_OFFSET = -21.18; // units are degrees
+const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND = 812;
+const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND = 3179;
+const int SECONDARY_STEERING_SENSE_CENTER = 1970;
+const float STEERING_RANGE_DEGREES = 256.05f;
+
 #endif /* __MCU15_H__ */