39 lines
1.1 KiB
Plaintext
39 lines
1.1 KiB
Plaintext
In here lies the car abstraction layer, and is part of what you will implement to add a new car
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== Car State ==
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Implement the following minimal set of sensors:
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Speed -- best estimate of the speed of the car
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SteeringAngle -- current angle of the steering wheel
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ControlSurface -- gas position, brake position, steering torque
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Implement the following optional sensors:
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RadarPoints -- Currently not optional, but could be with VOACC. Data from the radar of the car.
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WheelSpeeds -- The speed of the 4 wheels of the car. To be used for odometry
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Implement the following controls:
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ControlSurface -- gas position (optional if PCM), brake position, steering torque
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If you don't have a pedal interceptor and you use the PCM cruise control:
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CruiseState -- If system is enabled, and current set speed
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CruiseControl -- Commands to modify system speed and acceleration
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== Car UI ==
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I suspect many cars with ACC and LKAS have similar UIs
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HUDControl
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== Car Buttons ==
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Uses an evented protocol
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* Blinkers
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* Cruise buttons
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* Other buttons
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== Car Errors ==
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See capnp for list of errors
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