added messages for rear encoders

eagletrt · Jul 21, 2024 · 231b3f5 · 231b3f5
1 parent 6ed21fb
commit 231b3f5
Showing 1 changed file with 30 additions and 1 deletion.
diff --git a/networks/secondary/network.json b/networks/secondary/network.json
@@ -1709,7 +1709,7 @@
         "ECU"
       ],
       "receiving": [],
-      "description": "Encoder and inverter speed in rad/sec",
+      "description": "Front encoder speed in rad/sec",
       "interval": 10,
       "contents": {
         "fl": {
@@ -1730,6 +1730,35 @@
         }
       }
     },
+    {
+      "name": "REAR_ANGULAR_VELOCITY",
+      "topic": "HYDRA",
+      "priority": 3,
+      "sending": [
+        "DITOCAN"
+      ],
+      "receiving": [],
+      "description": "Rear encoders speed in rad/sec",
+      "interval": 10,
+      "contents": {
+        "rl": {
+          "type": "float32",
+          "force": "uint16",
+          "range": [
+            -200,
+            200
+          ]
+        },
+        "rr": {
+          "type": "float32",
+          "force": "uint16",
+          "range": [
+            -200,
+            200
+          ]
+        }
+      }
+    },
     {
       "name": "HV_SOC_ESTIMATION_STATE",
       "topic": "HYDRA",