steer_msg
parent
5fde5a451c
commit
0dc52bec88
2
opendbc
2
opendbc
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@ -1 +1 @@
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Subproject commit 4925c2a9993b0587a052856626614a976d8e616b
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Subproject commit 190e71e8f0f30bac35c0319c23990cb721f7174e
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@ -1,12 +1,18 @@
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def create_steer_command(packer, steer, mode, raw_cnt):
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# def create_steer_command(packer, steer, mode, raw_cnt):
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"""Creates a CAN message for the Seb Smith EPAS Steer Command."""
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# """Creates a CAN message for the Seb Smith EPAS Steer Command."""
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# values = {
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# "STEER_MODE": mode,
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# "REQUESTED_STEER_TORQUE": steer,
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# "COUNTER": raw_cnt,
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# }
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# return packer.make_can_msg("OCELOT_STEERING_COMMAND", 2, values)
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def create_steer_command(packer, steer, enabled, raw_cnt):
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values = {
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values = {
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"STEER_MODE": mode,
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"STEER_TORQUE_CMD": (-steer * 18) if enabled else 0.
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"REQUESTED_STEER_TORQUE": steer,
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"COUNTER": raw_cnt,
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}
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}
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return packer.make_can_msg("OCELOT_STEERING_COMMAND", 2, values)
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return packer.make_can_msg("STEER_COMMAND", 2, values)
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def create_gas_command(packer, gas_amount, idx):
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def create_gas_command(packer, gas_amount, idx):
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# Common gas pedal msg generator
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# Common gas pedal msg generator
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@ -25,7 +31,7 @@ def create_gas_command(packer, gas_amount, idx):
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def create_brake_cmd(packer, enabled, brake, raw_cnt):
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def create_brake_cmd(packer, enabled, brake, raw_cnt):
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values = {
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values = {
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"BRAKE_POSITION_COMMAND" : brake * 47,
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"BRAKE_POSITION_COMMAND" : brake * 25,
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"BRAKE_RELATIVE_COMMAND": 0,
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"BRAKE_RELATIVE_COMMAND": 0,
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"BRAKE_MODE": 2 if enabled else 0,
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"BRAKE_MODE": 2 if enabled else 0,
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"COUNTER" : raw_cnt,
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"COUNTER" : raw_cnt,
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