Linear Actuator Node

Maintained by Nova

Overview

This node’s responsible for our brake system. It communicates via CAN bus with a linear actuator that pulls our brake pedal.

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In:

• /vehicle/control VehicleControl
• /clock Clock
• /guardian/mode Mode

Out:

• /node_statuses DiagnosticStatus
• CAN Bus: Position/Clutch Command

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connectToBus(self)

Attempts to establish a connection to the CAN bus that controls our linear actuator.

sendBrakeControl(self, msg: VehicleControl)

Calculates a position command from an inputted brake value and calls sendToPosition().

enableClutch(self, bus: can.Bus)

Enables clutch.

disableClutch(self)

Disables clutch.

sendToPosition(self, pos: float, bus: can.Bus)

Encodes a desired position value for the linear actuator into serial and attempts to send it.