33 lines
911 B
Python
33 lines
911 B
Python
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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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("ACTUATOR_STEERING_COMMAND", 0, values)
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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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enable = gas_amount > 0.001
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values = {
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"ENABLE": enable,
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"COUNTER": idx & 0xF,
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}
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if enable:
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values["GAS_COMMAND"] = gas_amount * 255.
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values["GAS_COMMAND2"] = gas_amount * 255.
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return packer.make_can_msg("PEDAL_GAS_COMMAND", 0, values)
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def create_brake_cmd(packer, enabled, brake, raw_cnt):
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values = {
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"BRAKE_POSITION_COMMAND" : 0,
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"BRAKE_RELATIVE_COMMAND": brake * 252,
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"BRAKE_MODE": enabled,
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"COUNTER" : raw_cnt,
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}
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return packer.make_can_msg("OCELOT_BRAKE_COMMAND", 0, values) |