SendTritium Task

The SendTritium task currently houses our velocity control code. It utilizes a FSM to coordinate what messages should be sent to the motor controller depending on a certain set of input variables. This FSM depends on data from across the system, such as: - The Pedals - The switches - The CAN messages from BPS (indicates whether we can regen brake or not)

group SendTritium

Defines

MOTOR_MSG_PERIOD 100

FSM_PERIOD 100

DEBOUNCE_PERIOD 2

MOTOR_MSG_COUNTER_THRESHOLD (MOTOR_MSG_PERIOD)/(FSM_PERIOD)

FOREACH_Gear(GEAR)

GEAR(FORWARD_GEAR),   \

GEAR(NEUTRAL_GEAR),  \

GEAR(REVERSE_GEAR),   \

Typedefs

typedef enum GEAR_ENUM Gear_t

typedef struct TritiumState TritiumState_t

Enums

enum GEAR_ENUM

Values:

enumerator FOREACH_Gear

enum TritiumStateName_t

Values:

enumerator FORWARD_DRIVE

enumerator NEUTRAL_DRIVE

enumerator REVERSE_DRIVE

enumerator RECORD_VELOCITY

enumerator POWERED_CRUISE

enumerator COASTING_CRUISE

enumerator BRAKE_STATE

enumerator ONEPEDAL

enumerator ACCELERATE_CRUISE

Functions

float mapToPercent(uint8_t input, uint8_t in_min, uint8_t in_max, uint8_t out_min, uint8_t out_max)

Linearly map range of integers to another range of integers, and provide the pecentage result. in_min to in_max is mapped to out_min to out_max.

Parameters:

• input – input integer value

• in_min – minimum value of input range

• in_max – maximum value of input range

• out_min – minimum value of output range

• out_max – maximum value of output range

Returns:

float value from (out_min / 100.0) to (out_max / 100.0)

Variables

TritiumStateName_t name

void (*stateHandler)(void)

void (*stateDecider)(void)

struct TritiumState