Created by [ Avery Chiu], last modified on Mar 31, 2021
This document outlines how each feature of the car enters into auto mode through our ROS nodes. In the car, each ROS node has its own way of indicating whether it is in autonomous mode and how to exit autonomous mode as well.
+—+———-+————-+——————+———————+ | F | Getting | Indication | Exiting Auto | Source | | e | into | the car is | mode | | | a | Auto | in Auto | | | | t | mode | mode | | | | u | | | | | | r | | | | | | e | | | | | +===+==========+=============+==================+=====================+ | P | Autonomo | The car | Press and | <https://drive.goog | | r | us | will send: | release Cruise | le.com/file/d/1g_GJ | | o | Enable | | Control Cancel | Wc-WDGAwusp3rjI3Q14 | | p | Command | Torque | or On/Off Button | ulpJIO4tA/view?usp= | | u | is | Authorized | | sharing> | | l | sent (PP | Cruise | OR | | | s | EI_Crui | Control | | | | i | se_Cont | Active = | Send Adaptive | | | o | rol_Sw\ | TRUE | Cruise Control | | | n | _Status) | | Active = False | | | ( | a series | AND | | | | T | of times | | OR | | | o | with | Adaptive | | | | r | differen | Cruise | Send Cruise and | | | q | t | Control | Speed Limit | | | u | data, as | Axle Torque | Switcher Status | | | e | shown in | Command | = Cancel | | | ) | the | Status: | | | | | | Request | OR | | | | \ | Status = | | | | | | Request | Press on the | | | | | Honored | brake or | | | | | | accelerator | | | | | | pedal | | +—+———-+————-+——————+———————+ | S | Autonomo | The car | Apply torque to | <https://drive.goog | | t | us | will send a | the steering | le.com/file/d/1FJGG | | e | Steering | feedback | wheel (ie turn | udgI_FZa5dl7YDYvDa7 | | e | Command | state of | the steering | b4hOD2Kj1/view?usp= | | r | is sent | $2-Active | wheel) | sharing> | | i | | within the | | | | n | (Auto_B | Electrical\ | | | | g | rake_St | _Power_Ste | | | | | eering_ | ering_CE | | | | | Req1_HS | ($335) to | | | | | ) | indicate | | | | | | that EPS is | | | | | | actively | | | | | | performing | | | | | | the angle | | | | | | control | | | | | | function | | | +—+———-+————-+——————+———————+ | B | The car | \ | Brake system | <https://drive.goog | | r | will | | detects driver | le.com/file/d/1-MIK | | a | honor | | interference | CxUR3W33XyT2ueMAwbt | | k | autonomo | | | ABXN_MxPv/view?usp= | | i | us | | | sharing> | | n | request | | | | | g | as long | | | | | | as | | | | | | Primary | | | | | | Brake | | | | | | System | | | | | | Status = | | | | | | $1 | | | | | | (Full | | | | | | Function | | | | | | ) | | | | +—+———-+————-+——————+———————+
Document generated by Confluence on Nov 28, 2021 22:40