retropilot
/
openpilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

steer_msg

albatross_demo
Kevin Roscom 2022-04-08 14:38:34 -05:00
parent 5fde5a451c
commit 0dc52bec88
2 changed files with 14 additions and 8 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
opendbc

@ -1 +1 @@
Subproject commit 4925c2a9993b0587a052856626614a976d8e616b
Subproject commit 190e71e8f0f30bac35c0319c23990cb721f7174e

20
selfdrive/car/ocelot/ocelotcan.py
View File

@ -1,12 +1,18 @@
def create_steer_command(packer, steer, mode, raw_cnt):
"""Creates a CAN message for the Seb Smith EPAS Steer Command."""
# def create_steer_command(packer, steer, mode, raw_cnt):
# """Creates a CAN message for the Seb Smith EPAS Steer Command."""
# values = {
# "STEER_MODE": mode,
# "REQUESTED_STEER_TORQUE": steer,
# "COUNTER": raw_cnt,
# }
# return packer.make_can_msg("OCELOT_STEERING_COMMAND", 2, values)
def create_steer_command(packer, steer, enabled, raw_cnt):
values = {
"STEER_MODE": mode,
"REQUESTED_STEER_TORQUE": steer,
"COUNTER": raw_cnt,
"STEER_TORQUE_CMD": (-steer * 18) if enabled else 0.
}
return packer.make_can_msg("OCELOT_STEERING_COMMAND", 2, values)
return packer.make_can_msg("STEER_COMMAND", 2, values)
def create_gas_command(packer, gas_amount, idx):
# Common gas pedal msg generator
@ -25,7 +31,7 @@ def create_gas_command(packer, gas_amount, idx):
def create_brake_cmd(packer, enabled, brake, raw_cnt):
values = {
"BRAKE_POSITION_COMMAND" : brake * 47,
"BRAKE_POSITION_COMMAND" : brake * 25,
"BRAKE_RELATIVE_COMMAND": 0,
"BRAKE_MODE": 2 if enabled else 0,
"COUNTER" : raw_cnt,