not working when steered to right

hytech-racing · May 22, 2024 · 2b56423 · 2b56423
1 parent 23be5cd
commit 2b56423
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diff --git a/include/MCU_rev15_defs.h b/include/MCU_rev15_defs.h
@@ -86,7 +86,7 @@ const float LOADCELL_RR_SCALE = 0.06;
 const float LOADCELL_RR_OFFSET = 23.761 / LOADCELL_RR_SCALE;
 
 // Steering parameters
-const float PRIMARY_STEERING_SENSE_OFFSET = -21.18; // units are degrees
+const float PRIMARY_STEERING_SENSE_OFFSET = 0.0; // units are degrees
 const int SECONDARY_STEERING_SENSE_LEFTMOST_BOUND = 812;
 const int SECONDARY_STEERING_SENSE_RIGHTMOST_BOUND = 3179;
 const int SECONDARY_STEERING_SENSE_CENTER = 1970;

diff --git a/src/main.cpp b/src/main.cpp
@@ -325,6 +325,15 @@ void loop()
     // send CAN
     send_all_CAN_msgs(CAN2_txBuffer, &INV_CAN);
     send_all_CAN_msgs(CAN3_txBuffer, &TELEM_CAN);
+
+    if (curr_tick.triggers.trigger5)
+    {
+        Serial.print("Steering system angle: ");
+        Serial.println(steering_system.getSteeringSystemData().angle);
+        Serial.print("Steering system status: ");
+        Serial.println(static_cast<uint8_t>(steering_system.getSteeringSystemData().status));
+    }
+
 }
 
 /*