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commit 30a58785b43a2e40986766ff60fe1f425e320704
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 29 21:53:15 2024 -0400

    fixed. no need to manually divide again if using fromS

commit 494f6ef2f80c1814adbd64affdae5532f4b63846
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 29 21:21:47 2024 -0400

    Squashed commit of the following:

    commit 0bb8005477f95db82889ce7e07a8b17d57f44ab9
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 29 20:51:52 2024 -0400

        track drifting

    commit 88352fdc2308c60f9c1161d93018e68bc70ea801
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 29 20:48:03 2024 -0400

        brake sensor outputs swapped. bspd working now

    commit 3e60d1fb117334f371cc11624a32946113ecd9a7
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 29 19:20:46 2024 -0400

        adjusted pedal range

    commit c4b35006395f2f15971596f8870b65d8202ef53c
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 29 13:05:47 2024 -0400

        adjustment for new brake sensor (tbc)

    commit c083f8989aa781f0f25be1559db742527618fb10
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Tue May 28 21:06:36 2024 -0400

        merged branch, use main

    commit 21dd996d6f60d82285a57ed481d679849ee25efc
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Mon May 27 14:39:49 2024 -0400

        Squashed commit of the following:

        commit a66e55b5f526563df1e444f86a694bb34b58d2e1
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Mon May 27 14:19:41 2024 -0400

            fixed test to make it pass

        commit ab92c8c74cd86904166622d8f377409afd638710
        Merge: ba91e2ee 56933097
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Mon May 27 14:13:49 2024 -0400

            Merge branch 'master' into feature/TCMux-relevant-status-tracking

        commit 569330973eb670944b8dcbb79b4b088bf7778305
        Author: Ben Hall <rcmast3r1@gmail.com>
        Date:   Sat May 25 15:51:49 2024 -0400

            CASE (#95)

            * adding stuff in

            * adding in current progress

            * Cooking on EthernetInterface

            * fixing merges

            * cooking on parameter server

            * working on getting protobuf messages handled

            * pb ethernet receiving docs

            * Initial UDPSocket template

            * removing BS

            * Updating ethernet interface

            * fixing ethernetinterface compile errors

            * Rewriting send() function in EthernetInterface

            * removed buffer size from EthernetInterface constructor

            * adding stuff in

            * Moving Ethernet UDP socket into main and Using NativeEthernet instead

            * she lives!

            * actually working in the test pog

            * cooking

            * CASE testing flahsed to car 5/4/24, works on jacks, havent tested on ground

            * fix test_CASE.h

            * updating readme with a proposed shift in generation of stuff

            * Updated load cell scaling

            * Update main.cpp

            * Update main.cpp

            * integrating the parameter interface

            * jankily fixing tests

            * working my magic

            * compiles!

            * adjusted can release

            * updated platform.ini

            * Flashed to car 5/8/24

            * push for benajmin

            * uh

            * last flashed 5/9/24 on car

            * Added TCS saturation limit for front and rear axles

            * Add CAN msg for TCS saturation limits

            * Added steer dependent torque delta constraint to TCS

            * lib branch merged, back to main

            * Integrating filter into steering system

            * compiles. to be tested

            * configuration for testing

            * debug notes but might be a good starting point to add back basic debug serial prints

            * Compiles and passed steering test

            * Reset calibrated steering offset and add serial monitor speed in .ini (not sure if it's doing anything helpful)

            * Temp changes

            * CASE updated with normal load based TCS gain scheduling

            * Wheel spun

            * Decoupled and NL scheduled slip targets for TCS

            * Added non zero filer alpha

            * Adjusted steering system test for iir filter

            * Minor adjustment

            * Recalibrated bottom sensor and wheel spun

            * Added comments to steering test for readability

            * Added Derate Factor code to AMS interface

            * added derate factor to case and loadcell

            * Revert "added derate factor to case and loadcell"

            This reverts commit 5d9761b97bdf00b7dc1c1b5c5e89d01f0a533253.

            * Revert "Added Derate Factor code to AMS interface"

            This reverts commit 5262fe863b9df002e12565476522d49171ff36b1.

            * read more values

            * finale

            * Squashed commit of the following:

            commit bb038370a0f0c13cd0e1e4bcb25e634b6ee7feed
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 15:10:02 2024 -0400

                more detailed steering report

            commit 2b5642365faf8db118b26bba7cd2324b8d8ffa7f
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 14:26:14 2024 -0400

                not working when steered to right

            commit 23be5cd4e88243c9d4273c0ad2025a7270980f4c
            Merge: 8ac101b5 1416d3eb
            Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
            Date:   Mon May 20 22:54:56 2024 -0700

                Merge branch 'master' of https://github.com/hytech-racing/MCU

            commit 1416d3eb16d117c7cb9bd9fb9273aa1d3a93779c
            Author: Ben Hall <rcmast3r1@gmail.com>
            Date:   Sat May 11 15:24:45 2024 -0400

                adding private member functions to doxygen docs

            commit 408193b6b7111dbdc48f6af84ce1b50195d7a855
            Author: Ben Hall <rcmast3r1@gmail.com>
            Date:   Sat May 11 15:11:22 2024 -0400

                fixing repo library dep clone directives

            * Revert "Squashed commit of the following:"

            This reverts commit 25136c7f3b5790c11e6ad2022c372ac16ea1a189.

            * Merge branch 'master' into CASE_testbranch

            * Update main.cpp

            * bad

            * Revert "bad"

            This reverts commit 95c4618988317737ebc4a31afa6c6d5ee3a2e27b.

            * Revert "Update main.cpp"

            This reverts commit dfa4f7a3cf177dcaee65c59cd3a406c253359288.

            * Revert "Merge branch 'master' into CASE_testbranch"

            This reverts commit df74595acc64ee569cfd9377f0f344c784be3323.

            * Reapply "Merge branch 'master' into CASE_testbranch"

            This reverts commit e062970d4409bd761214e392f27842b7e6870ec2.

            * Reapply "Update main.cpp"

            This reverts commit 50de74cb8fdf54dfb73dd047d41d2618a97a3503.

            * Reapply "bad"

            This reverts commit 2a253cde26abbe9648e8cf12feb2ffedcb2c630d.

            * Squashed commit of the following:

            commit 07faefaba316f8a090ab1d0191dd06c95f139e82
            Merge: f149cdcc bb038370
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 17:29:16 2024 -0400

                Merge branch 'master' into CASE_testbranch

            commit f149cdcc7d914b543d060fb815c316e24461bb95
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 17:06:46 2024 -0400

                Reapply "bad"

                This reverts commit 2a253cde26abbe9648e8cf12feb2ffedcb2c630d.

            commit e8cbee792d0dbe17f318fcc82e0d5b3bef443b1d
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 17:06:35 2024 -0400

                Reapply "Update main.cpp"

                This reverts commit 50de74cb8fdf54dfb73dd047d41d2618a97a3503.

            commit 3d1aab350837aa61484f96b4e33bf0752168c37b
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 17:06:23 2024 -0400

                Reapply "Merge branch 'master' into CASE_testbranch"

                This reverts commit e062970d4409bd761214e392f27842b7e6870ec2.

            commit e062970d4409bd761214e392f27842b7e6870ec2
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 16:37:16 2024 -0400

                Revert "Merge branch 'master' into CASE_testbranch"

                This reverts commit df74595acc64ee569cfd9377f0f344c784be3323.

            commit 50de74cb8fdf54dfb73dd047d41d2618a97a3503
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 16:37:07 2024 -0400

                Revert "Update main.cpp"

                This reverts commit dfa4f7a3cf177dcaee65c59cd3a406c253359288.

            commit 2a253cde26abbe9648e8cf12feb2ffedcb2c630d
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 16:36:55 2024 -0400

                Revert "bad"

                This reverts commit 95c4618988317737ebc4a31afa6c6d5ee3a2e27b.

            commit 95c4618988317737ebc4a31afa6c6d5ee3a2e27b
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 16:36:42 2024 -0400

                bad

            commit dfa4f7a3cf177dcaee65c59cd3a406c253359288
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 16:24:22 2024 -0400

                Update main.cpp

            commit df74595acc64ee569cfd9377f0f344c784be3323
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 16:23:20 2024 -0400

                Merge branch 'master' into CASE_testbranch

            commit bb038370a0f0c13cd0e1e4bcb25e634b6ee7feed
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 15:10:02 2024 -0400

                more detailed steering report

            commit 2b5642365faf8db118b26bba7cd2324b8d8ffa7f
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 14:26:14 2024 -0400

                not working when steered to right

            commit 40dd816373d34d825800ed9cf16a17fd0994ee7d
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Tue May 21 18:05:55 2024 -0400

                Revert "Added Derate Factor code to AMS interface"

                This reverts commit 5262fe863b9df002e12565476522d49171ff36b1.

            commit 760bd8f0acf3683092601822cb4682c4eb286568
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Tue May 21 18:04:56 2024 -0400

                Revert "added derate factor to case and loadcell"

                This reverts commit 5d9761b97bdf00b7dc1c1b5c5e89d01f0a533253.

            commit 5d9761b97bdf00b7dc1c1b5c5e89d01f0a533253
            Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
            Date:   Tue May 21 00:07:20 2024 -0700

                added derate factor to case and loadcell

            commit 5262fe863b9df002e12565476522d49171ff36b1
            Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
            Date:   Mon May 20 23:53:20 2024 -0700

                Added Derate Factor code to AMS interface

            commit 23be5cd4e88243c9d4273c0ad2025a7270980f4c
            Merge: 8ac101b5 1416d3eb
            Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
            Date:   Mon May 20 22:54:56 2024 -0700

                Merge branch 'master' of https://github.com/hytech-racing/MCU

            commit 1416d3eb16d117c7cb9bd9fb9273aa1d3a93779c
            Author: Ben Hall <rcmast3r1@gmail.com>
            Date:   Sat May 11 15:24:45 2024 -0400

                adding private member functions to doxygen docs

            commit 408193b6b7111dbdc48f6af84ce1b50195d7a855
            Author: Ben Hall <rcmast3r1@gmail.com>
            Date:   Sat May 11 15:11:22 2024 -0400

                fixing repo library dep clone directives

            * Squashed commit of the following:

            commit 0b688704841d2fa14da35a5fa5159061fa30a375
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 17:33:24 2024 -0400

                Squashed commit of the following:

                commit 07faefaba316f8a090ab1d0191dd06c95f139e82
                Merge: f149cdcc bb038370
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 17:29:16 2024 -0400

                    Merge branch 'master' into CASE_testbranch

                commit f149cdcc7d914b543d060fb815c316e24461bb95
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 17:06:46 2024 -0400

                    Reapply "bad"

                    This reverts commit 2a253cde26abbe9648e8cf12feb2ffedcb2c630d.

                commit e8cbee792d0dbe17f318fcc82e0d5b3bef443b1d
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 17:06:35 2024 -0400

                    Reapply "Update main.cpp"

                    This reverts commit 50de74cb8fdf54dfb73dd047d41d2618a97a3503.

                commit 3d1aab350837aa61484f96b4e33bf0752168c37b
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 17:06:23 2024 -0400

                    Reapply "Merge branch 'master' into CASE_testbranch"

                    This reverts commit e062970d4409bd761214e392f27842b7e6870ec2.

                commit e062970d4409bd761214e392f27842b7e6870ec2
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 16:37:16 2024 -0400

                    Revert "Merge branch 'master' into CASE_testbranch"

                    This reverts commit df74595acc64ee569cfd9377f0f344c784be3323.

                commit 50de74cb8fdf54dfb73dd047d41d2618a97a3503
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 16:37:07 2024 -0400

                    Revert "Update main.cpp"

                    This reverts commit dfa4f7a3cf177dcaee65c59cd3a406c253359288.

                commit 2a253cde26abbe9648e8cf12feb2ffedcb2c630d
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 16:36:55 2024 -0400

                    Revert "bad"

                    This reverts commit 95c4618988317737ebc4a31afa6c6d5ee3a2e27b.

                commit 95c4618988317737ebc4a31afa6c6d5ee3a2e27b
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 16:36:42 2024 -0400

                    bad

                commit dfa4f7a3cf177dcaee65c59cd3a406c253359288
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 16:24:22 2024 -0400

                    Update main.cpp

                commit df74595acc64ee569cfd9377f0f344c784be3323
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 16:23:20 2024 -0400

                    Merge branch 'master' into CASE_testbranch

                commit bb038370a0f0c13cd0e1e4bcb25e634b6ee7feed
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 15:10:02 2024 -0400

                    more detailed steering report

                commit 2b5642365faf8db118b26bba7cd2324b8d8ffa7f
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 14:26:14 2024 -0400

                    not working when steered to right

                commit 40dd816373d34d825800ed9cf16a17fd0994ee7d
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Tue May 21 18:05:55 2024 -0400

                    Revert "Added Derate Factor code to AMS interface"

                    This reverts commit 5262fe863b9df002e12565476522d49171ff36b1.

                commit 760bd8f0acf3683092601822cb4682c4eb286568
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Tue May 21 18:04:56 2024 -0400

                    Revert "added derate factor to case and loadcell"

                    This reverts commit 5d9761b97bdf00b7dc1c1b5c5e89d01f0a533253.

                commit 5d9761b97bdf00b7dc1c1b5c5e89d01f0a533253
                Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
                Date:   Tue May 21 00:07:20 2024 -0700

                    added derate factor to case and loadcell

                commit 5262fe863b9df002e12565476522d49171ff36b1
                Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
                Date:   Mon May 20 23:53:20 2024 -0700

                    Added Derate Factor code to AMS interface

                commit 23be5cd4e88243c9d4273c0ad2025a7270980f4c
                Merge: 8ac101b5 1416d3eb
                Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
                Date:   Mon May 20 22:54:56 2024 -0700

                    Merge branch 'master' of https://github.com/hytech-racing/MCU

                commit 1416d3eb16d117c7cb9bd9fb9273aa1d3a93779c
                Author: Ben Hall <rcmast3r1@gmail.com>
                Date:   Sat May 11 15:24:45 2024 -0400

                    adding private member functions to doxygen docs

                commit 408193b6b7111dbdc48f6af84ce1b50195d7a855
                Author: Ben Hall <rcmast3r1@gmail.com>
                Date:   Sat May 11 15:11:22 2024 -0400

                    fixing repo library dep clone directives

            commit 28d5e7226319c65f8976b519d1162793991da576
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 16:17:14 2024 -0400

                Revert "Squashed commit of the following:"

                This reverts commit 25136c7f3b5790c11e6ad2022c372ac16ea1a189.

            commit 25136c7f3b5790c11e6ad2022c372ac16ea1a189
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 16:15:59 2024 -0400

                Squashed commit of the following:

                commit bb038370a0f0c13cd0e1e4bcb25e634b6ee7feed
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 15:10:02 2024 -0400

                    more detailed steering report

                commit 2b5642365faf8db118b26bba7cd2324b8d8ffa7f
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 14:26:14 2024 -0400

                    not working when steered to right

                commit 23be5cd4e88243c9d4273c0ad2025a7270980f4c
                Merge: 8ac101b5 1416d3eb
                Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
                Date:   Mon May 20 22:54:56 2024 -0700

                    Merge branch 'master' of https://github.com/hytech-racing/MCU

                commit 1416d3eb16d117c7cb9bd9fb9273aa1d3a93779c
                Author: Ben Hall <rcmast3r1@gmail.com>
                Date:   Sat May 11 15:24:45 2024 -0400

                    adding private member functions to doxygen docs

                commit 408193b6b7111dbdc48f6af84ce1b50195d7a855
                Author: Ben Hall <rcmast3r1@gmail.com>
                Date:   Sat May 11 15:11:22 2024 -0400

                    fixing repo library dep clone directives

            commit ccd205a147946ce2619be9fbd60d3a7be67dfcd3
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 15:50:25 2024 -0400

                finale

            commit d0c523e211f2316917893533fb185f0d1f8f3ee2
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 14:57:58 2024 -0400

                read more values

            commit b528dfc3c72147cf90c0177a1c478504a2fd2db8
            Merge: f4e69efc 207b2991
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Mon May 20 21:26:55 2024 -0400

                Merge branch 'CASE_testbranch' into feature/filter-steering-reading

            commit f4e69efce5c21a20d632c5b64b0400da11872775
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Mon May 20 01:16:52 2024 -0400

                Added comments to steering test for readability

            commit c1710c297db5fda3bb99a6213de3eb25367f658d
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Sat May 18 22:01:15 2024 -0400

                Recalibrated bottom sensor and wheel spun

            commit 04524b778b34709dba2cb7e79f0b80f0fcfb5360
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Sat May 18 19:02:42 2024 -0400

                Minor adjustment

            commit 455aab32aeba2e99e75fc6087c9c6bb9375be00e
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Sat May 18 18:45:53 2024 -0400

                Adjusted steering system test for iir filter

            commit 0c6639ff352665cde326ecfea17d33c34b1de844
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Sat May 18 14:38:51 2024 -0400

                Added non zero filer alpha

            commit 7ab723e7da6eb52058e14655fb37757a9f8a879f
            Merge: e7dceb74 04ad455f
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Fri May 17 23:49:31 2024 -0400

                Merge branch 'CASE_testbranch' into feature/filter-steering-reading

            commit e7dceb740d831226a64781a118fe671c93b078b7
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Sun May 12 22:06:24 2024 -0400

                configuration for testing

            commit c76391e9a03d42b181fa2c0a006a281fdad7edf9
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Sun May 12 20:02:55 2024 -0400

                compiles. to be tested

            commit 6df7c595af71eb39512a781410067e2887d03e46
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Sun May 12 00:52:58 2024 -0400

                Integrating filter into steering system

            * Update steering_system_test.h

            * adding back in the tc mux checks for mode change

            ---------

            Co-authored-by: walkermburns <walkermburns@gmail.com>
            Co-authored-by: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
            Co-authored-by: Eric Galluzzi <ericbgalluzzi@gmail.com>
            Co-authored-by: CL16gtgh <ryang359@gatech.edu>
            Co-authored-by: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
            Co-authored-by: CL16gtgh <113149455+CL16gtgh@users.noreply.github.com>

        commit ba91e2ee0b48ec4e8fe255e42b2d072cddbb248c
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Sat May 25 15:49:03 2024 -0400

            Test cases passed

        commit 97da4f12ef6672d7c98af75968f8d2bd445c4161
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Sat May 25 15:03:40 2024 -0400

            Test env compiles

        commit ddb1f02aa49ea983d714fbd251c9570918efcae3
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Sat May 25 03:39:35 2024 -0400

            Update steering_system_test.h

        commit b0124a88b5f4899ff05488d6cd2d766ada6a17ae
        Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
        Date:   Fri May 24 20:48:12 2024 -0700

            Added TCSVelThreshold back in

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        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Fri May 24 21:35:01 2024 -0400

            Merge branch 'master' into feature/TCMux-relevant-status-tracking

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        Date:   Wed May 22 18:55:23 2024 -0400

            Trying to get rid of self limiting features

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        Date:   Wed May 22 17:36:43 2024 -0400

            Squashed commit of the following:

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                    more detailed steering report

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                Date:   Wed May 22 14:26:14 2024 -0400

                    not working when steered to right

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                Date:   Tue May 21 18:05:55 2024 -0400

                    Revert "Added Derate Factor code to AMS interface"

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                Date:   Tue May 21 18:04:56 2024 -0400

                    Revert "added derate factor to case and loadcell"

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                Date:   Tue May 21 00:07:20 2024 -0700

                    added derate factor to case and loadcell

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                Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
                Date:   Mon May 20 23:53:20 2024 -0700

                    Added Derate Factor code to AMS interface

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                Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
                Date:   Mon May 20 22:54:56 2024 -0700

                    Merge branch 'master' of https://github.com/hytech-racing/MCU

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                Author: Ben Hall <rcmast3r1@gmail.com>
                Date:   Sat May 11 15:24:45 2024 -0400

                    adding private member functions to doxygen docs

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                Date:   Sat May 11 15:11:22 2024 -0400

                    fixing repo library dep clone directives

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            Date:   Wed May 22 16:17:14 2024 -0400

                Revert "Squashed commit of the following:"

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            commit 25136c7f3b5790c11e6ad2022c372ac16ea1a189
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            Date:   Wed May 22 16:15:59 2024 -0400

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                    more detailed steering report

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                    adding private member functions to doxygen docs

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                    fixing repo library dep clone directives

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                finale

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                read more values

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            Date:   Sat May 18 00:59:13 2024 -0700

                Decoupled and NL scheduled slip targets for TCS

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                Decoupled and NL scheduled slip targets for TCS

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            Fix skill issue

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        Author: CL16gtgh <ryang359@gatech.edu>
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            Merge branch 'feature/filter-steering-reading' into feature/TCMux-relevant-status-tracking

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            a lil bit of ocd

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            Added implementation in TelemetryInterface and updated .ini file

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            Added steering status report

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        Date:   Sun May 19 16:02:14 2024 -0400

            Idea outline for reporting TCMux status

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        extended init wait time

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    Date:   Sat May 25 00:21:42 2024 -0400

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        Date:   Fri May 24 20:48:12 2024 -0700

            Added TCSVelThreshold back in

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                commit 2a253cde26abbe9648e8cf12feb2ffedcb2c630d
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                    bad

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                    Update main.cpp

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                    Merge branch 'master' into CASE_testbranch

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                    more detailed steering report

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                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 14:26:14 2024 -0400

                    not working when steered to right

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                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Tue May 21 18:05:55 2024 -0400

                    Revert "Added Derate Factor code to AMS interface"

                    This reverts commit 5262fe863b9df002e12565476522d49171ff36b1.

                commit 760bd8f0acf3683092601822cb4682c4eb286568
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Tue May 21 18:04:56 2024 -0400

                    Revert "added derate factor to case and loadcell"

                    This reverts commit 5d9761b97bdf00b7dc1c1b5c5e89d01f0a533253.

                commit 5d9761b97bdf00b7dc1c1b5c5e89d01f0a533253
                Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
                Date:   Tue May 21 00:07:20 2024 -0700

                    added derate factor to case and loadcell

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                Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
                Date:   Mon May 20 23:53:20 2024 -0700

                    Added Derate Factor code to AMS interface

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                Date:   Mon May 20 22:54:56 2024 -0700

                    Merge branch 'master' of https://github.com/hytech-racing/MCU

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                Date:   Sat May 11 15:24:45 2024 -0400

                    adding private member functions to doxygen docs

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                Date:   Sat May 11 15:11:22 2024 -0400

                    fixing repo library dep clone directives

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            Date:   Wed May 22 16:17:14 2024 -0400

                Revert "Squashed commit of the following:"

                This reverts commit 25136c7f3b5790c11e6ad2022c372ac16ea1a189.

            commit 25136c7f3b5790c11e6ad2022c372ac16ea1a189
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            Date:   Wed May 22 16:15:59 2024 -0400

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                    more detailed steering report

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                    not working when steered to right

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                    Merge branch 'master' of https://github.com/hytech-racing/MCU

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                    adding private member functions to doxygen docs

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                finale

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            Date:   Sat May 18 00:59:13 2024 -0700

                Decoupled and NL scheduled slip targets for TCS

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                Decoupled and NL scheduled slip targets for TCS

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            Fix skill issue

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            a lil bit of ocd

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        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Sun May 19 23:20:57 2024 -0400

            Added implementation in TelemetryInterface and updated .ini file

        commit 3a1f493e97938ab68cec98103d8e9df7e637a6ee
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Sun May 19 18:40:13 2024 -0400

            Added steering status report

        commit 1284ebc4bd482d4f5976c2c0220309b87e7ebcd6
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Sun May 19 16:02:14 2024 -0400

            Idea outline for reporting TCMux status

    commit e33f672619bf51bdf583499614d1ff745d41c6b7
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Sat May 25 00:19:54 2024 -0400

        Cherry picked coulomb counting

    commit 38f08570a1da3db2ee84c7876a4f33d0ca36e19e
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Fri May 24 23:17:14 2024 -0400

        stash

    commit ee32c25039817b679921702d756947c023920b83
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Fri May 24 23:03:52 2024 -0400

        Squashed commit of the following:

        commit 6bd7ba44c7be5b74955c8c6164732531eec9a3f1
        Merge: 2beeda82 18152729
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Fri May 24 21:35:01 2024 -0400

            Merge branch 'master' into feature/TCMux-relevant-status-tracking

        commit 2beeda82da902a27599f6a2109848db0283daa60
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 18:55:23 2024 -0400

            Trying to get rid of self limiting features

        commit 65f9ba00df78313c1c7a56c8ef8faea73a36322c
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 17:36:43 2024 -0400

            Squashed commit of the following:

            commit 0b688704841d2fa14da35a5fa5159061fa30a375
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 17:33:24 2024 -0400

                Squashed commit of the following:

                commit 07faefaba316f8a090ab1d0191dd06c95f139e82
                Merge: f149cdcc bb038370
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 17:29:16 2024 -0400

                    Merge branch 'master' into CASE_testbranch

                commit f149cdcc7d914b543d060fb815c316e24461bb95
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 17:06:46 2024 -0400

                    Reapply "bad"

                    This reverts commit 2a253cde26abbe9648e8cf12feb2ffedcb2c630d.

                commit e8cbee792d0dbe17f318fcc82e0d5b3bef443b1d
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 17:06:35 2024 -0400

                    Reapply "Update main.cpp"

                    This reverts commit 50de74cb8fdf54dfb73dd047d41d2618a97a3503.

                commit 3d1aab350837aa61484f96b4e33bf0752168c37b
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 17:06:23 2024 -0400

                    Reapply "Merge branch 'master' into CASE_testbranch"

                    This reverts commit e062970d4409bd761214e392f27842b7e6870ec2.

                commit e062970d4409bd761214e392f27842b7e6870ec2
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 16:37:16 2024 -0400

                    Revert "Merge branch 'master' into CASE_testbranch"

                    This reverts commit df74595acc64ee569cfd9377f0f344c784be3323.

                commit 50de74cb8fdf54dfb73dd047d41d2618a97a3503
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 16:37:07 2024 -0400

                    Revert "Update main.cpp"

                    This reverts commit dfa4f7a3cf177dcaee65c59cd3a406c253359288.

                commit 2a253cde26abbe9648e8cf12feb2ffedcb2c630d
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 16:36:55 2024 -0400

                    Revert "bad"

                    This reverts commit 95c4618988317737ebc4a31afa6c6d5ee3a2e27b.

                commit 95c4618988317737ebc4a31afa6c6d5ee3a2e27b
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 16:36:42 2024 -0400

                    bad

                commit dfa4f7a3cf177dcaee65c59cd3a406c253359288
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 16:24:22 2024 -0400

                    Update main.cpp

                commit df74595acc64ee569cfd9377f0f344c784be3323
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 16:23:20 2024 -0400

                    Merge branch 'master' into CASE_testbranch

                commit bb038370a0f0c13cd0e1e4bcb25e634b6ee7feed
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 15:10:02 2024 -0400

                    more detailed steering report

                commit 2b5642365faf8db118b26bba7cd2324b8d8ffa7f
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 14:26:14 2024 -0400

                    not working when steered to right

                commit 40dd816373d34d825800ed9cf16a17fd0994ee7d
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Tue May 21 18:05:55 2024 -0400

                    Revert "Added Derate Factor code to AMS interface"

                    This reverts commit 5262fe863b9df002e12565476522d49171ff36b1.

                commit 760bd8f0acf3683092601822cb4682c4eb286568
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Tue May 21 18:04:56 2024 -0400

                    Revert "added derate factor to case and loadcell"

                    This reverts commit 5d9761b97bdf00b7dc1c1b5c5e89d01f0a533253.

                commit 5d9761b97bdf00b7dc1c1b5c5e89d01f0a533253
                Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
                Date:   Tue May 21 00:07:20 2024 -0700

                    added derate factor to case and loadcell

                commit 5262fe863b9df002e12565476522d49171ff36b1
                Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
                Date:   Mon May 20 23:53:20 2024 -0700

                    Added Derate Factor code to AMS interface

                commit 23be5cd4e88243c9d4273c0ad2025a7270980f4c
                Merge: 8ac101b5 1416d3eb
                Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
                Date:   Mon May 20 22:54:56 2024 -0700

                    Merge branch 'master' of https://github.com/hytech-racing/MCU

                commit 1416d3eb16d117c7cb9bd9fb9273aa1d3a93779c
                Author: Ben Hall <rcmast3r1@gmail.com>
                Date:   Sat May 11 15:24:45 2024 -0400

                    adding private member functions to doxygen docs

                commit 408193b6b7111dbdc48f6af84ce1b50195d7a855
                Author: Ben Hall <rcmast3r1@gmail.com>
                Date:   Sat May 11 15:11:22 2024 -0400

                    fixing repo library dep clone directives

            commit 28d5e7226319c65f8976b519d1162793991da576
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 16:17:14 2024 -0400

                Revert "Squashed commit of the following:"

                This reverts commit 25136c7f3b5790c11e6ad2022c372ac16ea1a189.

            commit 25136c7f3b5790c11e6ad2022c372ac16ea1a189
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 16:15:59 2024 -0400

                Squashed commit of the following:

                commit bb038370a0f0c13cd0e1e4bcb25e634b6ee7feed
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 15:10:02 2024 -0400

                    more detailed steering report

                commit 2b5642365faf8db118b26bba7cd2324b8d8ffa7f
                Author: CL16gtgh <ryang359@gatech.edu>
                Date:   Wed May 22 14:26:14 2024 -0400

                    not working when steered to right

                commit 23be5cd4e88243c9d4273c0ad2025a7270980f4c
                Merge: 8ac101b5 1416d3eb
                Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
                Date:   Mon May 20 22:54:56 2024 -0700

                    Merge branch 'master' of https://github.com/hytech-racing/MCU

                commit 1416d3eb16d117c7cb9bd9fb9273aa1d3a93779c
                Author: Ben Hall <rcmast3r1@gmail.com>
                Date:   Sat May 11 15:24:45 2024 -0400

                    adding private member functions to doxygen docs

                commit 408193b6b7111dbdc48f6af84ce1b50195d7a855
                Author: Ben Hall <rcmast3r1@gmail.com>
                Date:   Sat May 11 15:11:22 2024 -0400

                    fixing repo library dep clone directives

            commit ccd205a147946ce2619be9fbd60d3a7be67dfcd3
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 15:50:25 2024 -0400

                finale

            commit d0c523e211f2316917893533fb185f0d1f8f3ee2
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 14:57:58 2024 -0400

                read more values

            commit b528dfc3c72147cf90c0177a1c478504a2fd2db8
            Merge: f4e69efc 207b2991
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Mon May 20 21:26:55 2024 -0400

                Merge branch 'CASE_testbranch' into feature/filter-steering-reading

            commit 207b29915f61fa55f6a80a9fe54bd92001e9207a
            Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
            Date:   Sat May 18 00:59:13 2024 -0700

                Decoupled and NL scheduled slip targets for TCS

        commit afda31e97927c150a94b44c0c8617ebd34a851a6
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 16:00:49 2024 -0400

            Squashed commit of the following:

            commit ccd205a147946ce2619be9fbd60d3a7be67dfcd3
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 15:50:25 2024 -0400

                finale

            commit d0c523e211f2316917893533fb185f0d1f8f3ee2
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 14:57:58 2024 -0400

                read more values

            commit b528dfc3c72147cf90c0177a1c478504a2fd2db8
            Merge: f4e69efc 207b2991
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Mon May 20 21:26:55 2024 -0400

                Merge branch 'CASE_testbranch' into feature/filter-steering-reading

            commit 207b29915f61fa55f6a80a9fe54bd92001e9207a
            Author: Luke Chen <43226681+Luke-kC@users.noreply.github.com>
            Date:   Sat May 18 00:59:13 2024 -0700

                Decoupled and NL scheduled slip targets for TCS

        commit b73616916b859496200d85c5c513a4e5390b70ea
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Wed May 22 15:52:14 2024 -0400

            Fix skill issue

        commit 9facf9ebb1ccbab60920bd45ba3f6566d1b14bfc
        Merge: 3daa65bc f4e69efc
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Mon May 20 01:19:17 2024 -0400

            Merge branch 'feature/filter-steering-reading' into feature/TCMux-relevant-status-tracking

        commit 3daa65bcdb64796f2ae48b1196cf0cc25fb5171a
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Mon May 20 00:11:51 2024 -0400

            a lil bit of ocd

        commit 1e5326a37c199fba7a919d5c55c3b2b6745e579f
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Sun May 19 23:20:57 2024 -0400

            Added implementation in TelemetryInterface and updated .ini file

        commit 3a1f493e97938ab68cec98103d8e9df7e637a6ee
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Sun May 19 18:40:13 2024 -0400

            Added steering status report

        commit 1284ebc4bd482d4f5976c2c0220309b87e7ebcd6
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Sun May 19 16:02:14 2024 -0400

            Idea outline for reporting TCMux status

    commit 2dadde962b064d4e18be3bd29cc38918a76dd3d5
    Merge: 7971ee6a 18152729
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Fri May 24 22:48:47 2024 -0400

        Merge branch 'master' into v1.2_candidate

    commit 181527290241c0bcebfe62e5d100dbbf6084ce13
    Merge: bb038370 bc4e3114
    Author: CL16gtgh <113149455+CL16gtgh@users.noreply.github.com>
    Date:   Fri May 24 21:31:50 2024 -0400

        Merge pull request #93 from hytech-racing/CASE_testbranch

        Case testbranch

    commit 7971ee6a9e3fc8eb5a1ddaaba3ffcafce6097f18
    Merge: 4d9b9822 07faefab
    Author: CL16gtgh <113149455+CL16gtgh@users.noreply.github.com>
    Date:   Fri May 24 21:01:08 2024 -0400

        Merge pull request #87 from hytech-racing/CASE_testbranch

        Case testbranch

commit 7724e3dc4d3b3ebc45dddde8bde5427535336915
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 29 20:58:34 2024 -0400

    test cases passed. pending unity testing for derating

commit 31e54a24ce2e908ec1ff21941128a190797f4e83
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Mon May 27 15:19:49 2024 -0400

    shayan was right. im stupid

commit fa8025235e40ed56fce153563bdc9be45bf0359b
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Mon May 27 15:13:30 2024 -0400

    minor format adjustments and moved derating to after power limit

commit cea2a865b15cb1250db224f1889dfef4f8f887cc
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Mon May 27 14:46:30 2024 -0400

    Squashed commit of the following:

    commit 21dd996d6f60d82285a57ed481d679849ee25efc
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Mon May 27 14:39:49 2024 -0400

        Squashed commit of the following:

        commit a66e55b5f526563df1e444f86a694bb34b58d2e1
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Mon May 27 14:19:41 2024 -0400

            fixed test to make it pass

        commit ab92c8c74cd86904166622d8f377409afd638710
        Merge: ba91e2ee 56933097
        Author: CL16gtgh <ryang359@gatech.edu>
        Date:   Mon May 27 14:13:49 2024 -0400

            Merge branch 'master' into feature/TCMux-relevant-status-tracking

        commit 569330973eb670944b8dcbb79b4b088bf7778305
        Author: Ben Hall <rcmast3r1@gmail.com>
        Date:   Sat May 25 15:51:49 2024 -0400

            CASE (#95)

            * adding stuff in

            * adding in current progress

            * Cooking on EthernetInterface

            * fixing merges

            * cooking on parameter server

            * working on getting protobuf messages handled

            * pb ethernet receiving docs

            * Initial UDPSocket template

            * removing BS

            * Updating ethernet interface

            * fixing ethernetinterface compile errors

            * Rewriting send() function in EthernetInterface

            * removed buffer size from EthernetInterface constructor

            * adding stuff in

            * Moving Ethernet UDP socket into main and Using NativeEthernet instead

            * she lives!

            * actually working in the test pog

            * cooking

            * CASE testing flahsed to car 5/4/24, works on jacks, havent tested on ground

            * fix test_CASE.h

            * updating readme with a proposed shift in generation of stuff

            * Updated load cell scaling

            * Update main.cpp

            * Update main.cpp

            * integrating the parameter interface

            * jankily fixing tests

            * working my magic

            * compiles!

            * adjusted can release

            * updated platform.ini

            * Flashed to car 5/8/24

            * push for benajmin

            * uh

            * last flashed 5/9/24 on car

            * Added TCS saturation limit for front and rear axles

            * Add CAN msg for TCS saturation limits

            * Added steer dependent torque delta constraint to TCS

            * lib branch merged, back to main

            * Integrating filter into steering system

            * compiles. to be tested

            * configuration for testing

            * debug notes but might be a good starting point to add back basic debug serial prints

            * Compiles and passed steering test

            * Reset calibrated steering offset and add serial monitor speed in .ini (not sure if it's doing anything helpful)

            * Temp changes

            * CASE updated with normal load based TCS gain scheduling

            * Wheel spun

            * Decoupled and NL scheduled slip targets for TCS

            * Added non zero filer alpha

            * Adjusted steering system test for iir filter

            * Minor adjustment

            * Recalibrated bottom sensor and wheel spun

            * Added comments to steering test for readability

            * Added Derate Factor code to AMS interface

            * added derate factor to case and loadcell

            * Revert "added derate factor to case and loadcell"

            This reverts commit 5d9761b97bdf00b7dc1c1b5c5e89d01f0a533253.

            * Revert "Added Derate Factor code to AMS interface"

            This reverts commit 5262fe863b9df002e12565476522d49171ff36b1.

            * read more values

            * finale

            * Squashed commit of the following:

            commit bb038370a0f0c13cd0e1e4bcb25e634b6ee7feed
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 15:10:02 2024 -0400

                more detailed steering report

            commit 2b5642365faf8db118b26bba7cd2324b8d8ffa7f
            Author: CL16gtgh <ryang359@gatech.edu>
            Date:   Wed May 22 14:26:14 2024 -0400

                not working when steered to right

            commit 23be5cd4e88243c9d4273c0ad2025a7270980f4c
            Merge: 8ac101b5 1416d3eb
            Author: shaynoorani <113149316+shaynoorani@users.noreply.github.com>
            Date:   Mon May 20 22:54:56 2024 -0700

                Merge branch 'master' of https://github.com/hytech-racing/MCU

            commit 1416d3eb16d117c7cb9bd9fb9273aa1d3a93779c
            Author: Ben Hall <rcmast3r1@gmail.com>
            Date:   Sat May 11 15:24:45 2024 -0400

                adding private member functions to doxygen docs

            commit 408193b6b7111dbdc48f6af84ce1b50195d7a855
            Author: Ben Hall <rcmast3r1@gmail.com>
            Date:   Sat May 11 15:11:22 2024 -0400

                fixing repo library dep clone directives

            * Revert "Squashed commit of the following:"

            This reverts commit 25136c7f3b5790c11e6ad2022c372ac16ea1a189.

            * Merge branch 'master' into CASE_testbranch

            * Update main.cpp

            * bad

            * Revert "bad"

            This reverts commit 95c4618988317737ebc4a31afa6c6d5ee3a2e27b.

            * Revert "Update main.cpp"

            This reverts commit dfa4f7a3cf177dcaee65c59cd3a406c253359288.

            * Revert "Merge branch 'master' into CASE_testbranch"

       …
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CL16gtgh committed May 30, 2024
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7 changes: 7 additions & 0 deletions lib/interfaces/include/AMSInterface.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -72,6 +72,8 @@ class AMSInterface
float get_filtered_max_cell_temp();
/* IIR filter and return filtered min cell voltage */
float get_filtered_min_cell_voltage();
/*gets the derate factor for acc system*/
float get_acc_derate_factor();

/**
* Initializes the charge member variable from the voltage of the minimum cell using the VOLTAGE_LOOKUP_TABLE.
Expand Down Expand Up @@ -137,6 +139,9 @@ class AMSInterface
*/
void retrieve_voltage_CAN(CAN_message_t &recvd_msg);

/*Updates Acc_derate_factor*/
void calculate_acc_derate_factor();

/**
* Reads this CAN message into the em_measurements_ member variable. This function
* does NOT apply the fromS() functions on the data. This function uses the NEW CAN library.
Expand Down Expand Up @@ -212,6 +217,8 @@ class AMSInterface
float filtered_min_cell_voltage;
float cell_temp_alpha;
float cell_voltage_alpha;

float acc_derate_factor;

/**
* If set to TRUE, then SoC will use EM.
Expand Down
31 changes: 30 additions & 1 deletion lib/interfaces/src/AMSInterface.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -71,7 +71,7 @@ float AMSInterface::get_filtered_max_cell_temp() {
}

float AMSInterface::get_filtered_min_cell_voltage() {
bms_low_voltage = HYTECH_low_voltage_ro_fromS(bms_voltages_.low_voltage_ro) / 10000.0;
bms_low_voltage = HYTECH_low_voltage_ro_fromS(bms_voltages_.low_voltage_ro);
filtered_min_cell_voltage = filtered_min_cell_voltage * cell_temp_alpha + (1.0 - cell_voltage_alpha) * bms_low_voltage;
return filtered_min_cell_voltage;
}
Expand Down Expand Up @@ -176,5 +176,34 @@ void AMSInterface::retrieve_em_measurement_CAN(CAN_message_t &can_msg) {
void AMSInterface::retrieve_current_shunt_CAN(const CAN_message_t &can_msg) {
Unpack_ACU_SHUNT_MEASUREMENTS_hytech(&acu_shunt_measurements_, can_msg.buf, can_msg.len);
}
void AMSInterface::calculate_acc_derate_factor() {
float voltage_lim_factor = 1.0;
float startDerateVoltage = 3.5;
float endDerateVoltage = 3.2;
float voltage_lim_max = 1;
float voltage_lim_min = 0.2;

float temp_lim_factor = 1.0;
float startDerateTemp = 50;
float stopDerateTemp = 58;
float temp_lim_max = 1;
float temp_lim_min = 0.2;

float filtered_min_cell_voltage = get_filtered_min_cell_voltage();
//float_map equivalient because new code is bad
voltage_lim_factor = (filtered_min_cell_voltage - startDerateVoltage) * (voltage_lim_min - voltage_lim_max) / (endDerateVoltage - startDerateVoltage) + voltage_lim_max;
voltage_lim_factor = max(min(voltage_lim_max, voltage_lim_factor), voltage_lim_min);

temp_lim_factor = (filtered_max_cell_temp - startDerateTemp) * (temp_lim_min - temp_lim_max) / (stopDerateTemp - startDerateTemp) + temp_lim_max;
temp_lim_factor = max(min(temp_lim_factor, temp_lim_max), temp_lim_min);

acc_derate_factor = min(temp_lim_factor,voltage_lim_factor);
}

float AMSInterface::get_acc_derate_factor() {
calculate_acc_derate_factor();
return acc_derate_factor;

}


3 changes: 3 additions & 0 deletions lib/systems/include/TorqueControllerMux.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -99,6 +99,7 @@ class TorqueControllerMux
const SteeringSystemData_s &steeringData,
const LoadCellInterfaceOutput_s &loadCellData,
DialMode_e dashboardDialMode,
float accDerateFactor,
bool dashboardTorqueModeButtonPressed,
const vector_nav &vn_data,
const DrivetrainCommand_s &CASECommand
Expand All @@ -109,6 +110,7 @@ class TorqueControllerMux
void applyTorqueLimit(DrivetrainCommand_s* command);
void applyPowerLimit(DrivetrainCommand_s* command, const DrivetrainDynamicReport_s* drivetrain);
void applyPosSpeedLimit(DrivetrainCommand_s* command);
void applyDerate(DrivetrainCommand_s* command, float accDerateFactor);

/// @brief GETTERS
const DrivetrainCommand_s &getDrivetrainCommand()
Expand All @@ -135,6 +137,7 @@ class TorqueControllerMux
{
return muxMode_;
}


TorqueControllerBase* activeController()
{
Expand Down
16 changes: 16 additions & 0 deletions lib/systems/src/TorqueControllerMux.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@ void TorqueControllerMux::tick(
const SteeringSystemData_s &steeringData,
const LoadCellInterfaceOutput_s &loadCellData,
DialMode_e dashboardDialMode,
float accDerateFactor,
bool dashboardTorqueModeButtonPressed,
const vector_nav &vn_data,
const DrivetrainCommand_s &CASECommand)
Expand Down Expand Up @@ -103,6 +104,9 @@ void TorqueControllerMux::tick(
tcMuxStatus_.maxTorque = getMaxTorque();

// Apply setpoints value limits
// Derating for endurance
applyDerate(&drivetrainCommand_, accDerateFactor);

if (muxMode_ != TC_CASE_SYSTEM)
{
// Safety checks for CASE: CASE handles regen, torque, and power limit internally
Expand Down Expand Up @@ -168,6 +172,18 @@ void TorqueControllerMux::applyRegenLimit(DrivetrainCommand_s *command, const Dr
}
}

/*
Apply derating factor
- Endurance
*/
void TorqueControllerMux::applyDerate(DrivetrainCommand_s *command, float accDerateFactor)
{
for (int i = 0; i < NUM_MOTORS; i++)
{
command->torqueSetpoints[i] *= accDerateFactor;
}
}

/*
Apply power limit such that the mechanical power of all wheels never
exceeds the preset mechanical power limit. Scales all wheels down to
Expand Down
8 changes: 8 additions & 0 deletions src/main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -395,6 +395,13 @@ void loop()
Serial.print("Brake percent: ");
Serial.println(pedals_system.getPedalsSystemDataCopy().brakePercent);
Serial.println();
Serial.print("Derating factor: ");
Serial.println(ams_interface.get_acc_derate_factor());
Serial.print("Filtered min cell voltage: ");
Serial.println(ams_interface.get_filtered_min_cell_voltage());
Serial.print("Filtered max cell temp: ");
Serial.println(ams_interface.get_filtered_max_cell_temp());
Serial.println();

Serial.println();
}
Expand Down Expand Up @@ -559,6 +566,7 @@ void tick_all_systems(const SysTick_s &current_system_tick)
steering_system.getSteeringSystemData(),
load_cell_interface.getLoadCellForces(),
dashboard.getDialMode(),
ams_interface.get_acc_derate_factor(),
dashboard.torqueModeButtonPressed(),
vn_interface.get_vn_struct(),
controller_output);
Expand Down
22 changes: 22 additions & 0 deletions test/test_systems/torque_controller_mux_test.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -110,6 +110,7 @@ TEST(TorqueControllerMuxTesting, test_torque_delta_prevents_mode_change)
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_0,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -131,6 +132,7 @@ TEST(TorqueControllerMuxTesting, test_torque_delta_prevents_mode_change)
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_0,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -144,6 +146,7 @@ TEST(TorqueControllerMuxTesting, test_torque_delta_prevents_mode_change)
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_0,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand Down Expand Up @@ -223,6 +226,7 @@ TEST(TorqueControllerMuxTesting, test_speed_delta_prevents_mode_change)
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_0,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -244,6 +248,7 @@ TEST(TorqueControllerMuxTesting, test_speed_delta_prevents_mode_change)
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_0,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -257,6 +262,7 @@ TEST(TorqueControllerMuxTesting, test_speed_delta_prevents_mode_change)
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_0,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand Down Expand Up @@ -446,6 +452,7 @@ TEST(TorqueControllerMuxTesting, test_simple_launch_controller) {
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_0,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -459,6 +466,7 @@ TEST(TorqueControllerMuxTesting, test_simple_launch_controller) {
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_3,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -472,6 +480,7 @@ TEST(TorqueControllerMuxTesting, test_simple_launch_controller) {
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_3,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -489,6 +498,7 @@ TEST(TorqueControllerMuxTesting, test_simple_launch_controller) {
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_3,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -506,6 +516,7 @@ TEST(TorqueControllerMuxTesting, test_simple_launch_controller) {
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_3,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -523,6 +534,7 @@ TEST(TorqueControllerMuxTesting, test_simple_launch_controller) {
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_3,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -539,6 +551,7 @@ TEST(TorqueControllerMuxTesting, test_simple_launch_controller) {
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_3,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -556,6 +569,7 @@ TEST(TorqueControllerMuxTesting, test_simple_launch_controller) {
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_3,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand Down Expand Up @@ -655,6 +669,7 @@ TEST(TorqueControllerMuxTesting, test_slip_launch_controller) {
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_0,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -668,6 +683,7 @@ TEST(TorqueControllerMuxTesting, test_slip_launch_controller) {
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_4,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -681,6 +697,7 @@ TEST(TorqueControllerMuxTesting, test_slip_launch_controller) {
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_4,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -698,6 +715,7 @@ TEST(TorqueControllerMuxTesting, test_slip_launch_controller) {
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_4,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -711,6 +729,7 @@ TEST(TorqueControllerMuxTesting, test_slip_launch_controller) {
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_4,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -730,6 +749,7 @@ TEST(TorqueControllerMuxTesting, test_slip_launch_controller) {
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_4,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -752,6 +772,7 @@ TEST(TorqueControllerMuxTesting, test_slip_launch_controller) {
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_4,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand All @@ -772,6 +793,7 @@ TEST(TorqueControllerMuxTesting, test_slip_launch_controller) {
(const SteeringSystemData_s) {},
(const LoadCellInterfaceOutput_s) {},
DialMode_e::MODE_4,
1.0,
false,
vn_data,
(const DrivetrainCommand_s) {}
Expand Down

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