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hytech-racing / MCU

https://hytech-racing.github.io/MCU/index.html
GNU General Public License v3.0
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Bugfix/pedals and buzzer #58

Closed walkermburns closed 7 months ago

walkermburns commented 7 months ago

This PR includes a number of small bugfixes.

Most notably, this includes the current workaround for our broken brake pedal sensor, taking into account only one sensor, and removing the implausibility check in the state machine. After some discussion, I have also ensured that the difference between sense_max values and pedal_max values and how they contribute to the implausibility calculation.

Changes to the buzzer system to take into account the current and previous state of the buzzer on the dashboard to ensure that the dashboard has sounded the buzzer for the proper amount of time.

An added state transition in the ENABLING_INVERTERS state in the state machine ensures that the state will not get stuck on ENABLING_INVERTERS if a motor controller has an error state but the hv_threshold is ok. Requiring that we push the start button before going into ready to drive.

siddhxrth commented 7 months ago

Resolves #55 .

walkermburns commented 7 months ago

Tested this on car today. Was not working, caused car to crash. @siddhxrth if the software tests are working, then this is most likely due to the implementation in main. This needs to be fixed and tested again before merge

walkermburns commented 7 months ago

@siddhxrth merge master into this and fix any merge conflicts. We can test it thoroughly next test session to make sure that the implaus fix works.