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CASE (#95)
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* 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 5d9761b.

* Revert "Added Derate Factor code to AMS interface"

This reverts commit 5262fe8.

* read more values

* finale

* Squashed commit of the following:

commit bb03837
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 15:10:02 2024 -0400

    more detailed steering report

commit 2b56423
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 14:26:14 2024 -0400

    not working when steered to right

commit 23be5cd
Merge: 8ac101b 1416d3e
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 1416d3e
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Sat May 11 15:24:45 2024 -0400

    adding private member functions to doxygen docs

commit 408193b
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 25136c7.

* Merge branch 'master' into CASE_testbranch

* Update main.cpp

* bad

* Revert "bad"

This reverts commit 95c4618.

* Revert "Update main.cpp"

This reverts commit dfa4f7a.

* Revert "Merge branch 'master' into CASE_testbranch"

This reverts commit df74595.

* Reapply "Merge branch 'master' into CASE_testbranch"

This reverts commit e062970.

* Reapply "Update main.cpp"

This reverts commit 50de74c.

* Reapply "bad"

This reverts commit 2a253cd.

* Squashed commit of the following:

commit 07faefa
Merge: f149cdc bb03837
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 17:29:16 2024 -0400

    Merge branch 'master' into CASE_testbranch

commit f149cdc
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 17:06:46 2024 -0400

    Reapply "bad"

    This reverts commit 2a253cd.

commit e8cbee7
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 17:06:35 2024 -0400

    Reapply "Update main.cpp"

    This reverts commit 50de74c.

commit 3d1aab3
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 17:06:23 2024 -0400

    Reapply "Merge branch 'master' into CASE_testbranch"

    This reverts commit e062970.

commit e062970
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 16:37:16 2024 -0400

    Revert "Merge branch 'master' into CASE_testbranch"

    This reverts commit df74595.

commit 50de74c
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 16:37:07 2024 -0400

    Revert "Update main.cpp"

    This reverts commit dfa4f7a.

commit 2a253cd
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 16:36:55 2024 -0400

    Revert "bad"

    This reverts commit 95c4618.

commit 95c4618
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 16:36:42 2024 -0400

    bad

commit dfa4f7a
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 16:24:22 2024 -0400

    Update main.cpp

commit df74595
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 16:23:20 2024 -0400

    Merge branch 'master' into CASE_testbranch

commit bb03837
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 15:10:02 2024 -0400

    more detailed steering report

commit 2b56423
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 14:26:14 2024 -0400

    not working when steered to right

commit 40dd816
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 5262fe8.

commit 760bd8f
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 5d9761b.

commit 5d9761b
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 5262fe8
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 23be5cd
Merge: 8ac101b 1416d3e
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 1416d3e
Author: Ben Hall <rcmast3r1@gmail.com>
Date:   Sat May 11 15:24:45 2024 -0400

    adding private member functions to doxygen docs

commit 408193b
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 0b68870
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 17:33:24 2024 -0400

    Squashed commit of the following:

    commit 07faefa
    Merge: f149cdc bb03837
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 17:29:16 2024 -0400

        Merge branch 'master' into CASE_testbranch

    commit f149cdc
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 17:06:46 2024 -0400

        Reapply "bad"

        This reverts commit 2a253cd.

    commit e8cbee7
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 17:06:35 2024 -0400

        Reapply "Update main.cpp"

        This reverts commit 50de74c.

    commit 3d1aab3
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 17:06:23 2024 -0400

        Reapply "Merge branch 'master' into CASE_testbranch"

        This reverts commit e062970.

    commit e062970
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 16:37:16 2024 -0400

        Revert "Merge branch 'master' into CASE_testbranch"

        This reverts commit df74595.

    commit 50de74c
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 16:37:07 2024 -0400

        Revert "Update main.cpp"

        This reverts commit dfa4f7a.

    commit 2a253cd
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 16:36:55 2024 -0400

        Revert "bad"

        This reverts commit 95c4618.

    commit 95c4618
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 16:36:42 2024 -0400

        bad

    commit dfa4f7a
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 16:24:22 2024 -0400

        Update main.cpp

    commit df74595
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 16:23:20 2024 -0400

        Merge branch 'master' into CASE_testbranch

    commit bb03837
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 15:10:02 2024 -0400

        more detailed steering report

    commit 2b56423
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 14:26:14 2024 -0400

        not working when steered to right

    commit 40dd816
    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 5262fe8.

    commit 760bd8f
    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 5d9761b.

    commit 5d9761b
    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 5262fe8
    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 23be5cd
    Merge: 8ac101b 1416d3e
    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 1416d3e
    Author: Ben Hall <rcmast3r1@gmail.com>
    Date:   Sat May 11 15:24:45 2024 -0400

        adding private member functions to doxygen docs

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

        fixing repo library dep clone directives

commit 28d5e72
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 16:17:14 2024 -0400

    Revert "Squashed commit of the following:"

    This reverts commit 25136c7.

commit 25136c7
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 16:15:59 2024 -0400

    Squashed commit of the following:

    commit bb03837
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 15:10:02 2024 -0400

        more detailed steering report

    commit 2b56423
    Author: CL16gtgh <ryang359@gatech.edu>
    Date:   Wed May 22 14:26:14 2024 -0400

        not working when steered to right

    commit 23be5cd
    Merge: 8ac101b 1416d3e
    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 1416d3e
    Author: Ben Hall <rcmast3r1@gmail.com>
    Date:   Sat May 11 15:24:45 2024 -0400

        adding private member functions to doxygen docs

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

        fixing repo library dep clone directives

commit ccd205a
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 15:50:25 2024 -0400

    finale

commit d0c523e
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Wed May 22 14:57:58 2024 -0400

    read more values

commit b528dfc
Merge: f4e69ef 207b299
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Mon May 20 21:26:55 2024 -0400

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

commit f4e69ef
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Mon May 20 01:16:52 2024 -0400

    Added comments to steering test for readability

commit c1710c2
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Sat May 18 22:01:15 2024 -0400

    Recalibrated bottom sensor and wheel spun

commit 04524b7
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Sat May 18 19:02:42 2024 -0400

    Minor adjustment

commit 455aab3
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Sat May 18 18:45:53 2024 -0400

    Adjusted steering system test for iir filter

commit 0c6639f
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Sat May 18 14:38:51 2024 -0400

    Added non zero filer alpha

commit 7ab723e
Merge: e7dceb7 04ad455
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Fri May 17 23:49:31 2024 -0400

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

commit e7dceb7
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Sun May 12 22:06:24 2024 -0400

    configuration for testing

commit c76391e
Author: CL16gtgh <ryang359@gatech.edu>
Date:   Sun May 12 20:02:55 2024 -0400

    compiles. to be tested

commit 6df7c59
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>
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@RCMast3r @walkermburns
@Luke-kC @EricGalluzzi @CL16gtgh @shaynoorani
7 people committed May 25, 2024
1 parent ddb1f02 commit 5693309
Showing 1 changed file with 5 additions and 5 deletions.
10 changes: 5 additions & 5 deletions lib/systems/src/TorqueControllerMux.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -71,11 +71,11 @@ void TorqueControllerMux::tick(
// Check if targeted controller is ready to be selected
bool controllerNotReadyPreventsModeChange = (controllerOutputs_[static_cast<int>(dialModeMap_[dashboardDialMode])].ready == false);

// if (!(speedPreventsModeChange || torqueDeltaPreventsModeChange || controllerNotReadyPreventsModeChange))
// {
muxMode_ = dialModeMap_[dashboardDialMode];
cur_dial_mode_ = dashboardDialMode;
// }
if (!(speedPreventsModeChange || torqueDeltaPreventsModeChange || controllerNotReadyPreventsModeChange))
{
muxMode_ = dialModeMap_[dashboardDialMode];
cur_dial_mode_ = dashboardDialMode;
}
}

// Check if the current controller is ready. If it has faulted, revert to safe mode
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