42 lines
1.1 KiB
Python
42 lines
1.1 KiB
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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#
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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, 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_TORQUE_CMD": -steer * 18,
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}
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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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# 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 * 2500
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values["GAS_COMMAND2"] = gas_amount * 1250
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return packer.make_can_msg("PEDAL_GAS_COMMAND", 2, 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" : brake * 27,
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"BRAKE_RELATIVE_COMMAND": 0,
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"BRAKE_MODE": 2 if enabled else 0,
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"COUNTER" : raw_cnt,
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}
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return packer.make_can_msg("OCELOT_BRAKE_COMMAND", 2, values)
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