hyperloop/constants.py at master · GatorloopSoftwareTeam/hyperloop · GitHub

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import struct
import sys


GRAVITY = 9.80665

# States
STATE_FAULT = 0  # will cause tube run to abort
STATE_IDLE = 1  # pod is on, but not ready to be pushed
STATE_READY = 2  # pod is ready to be pushed
STATE_PUSHING = 3 # optional
STATE_COAST = 4 # optional
STATE_BRAKING = 5  # pod is applying brakes

COMPUTER = "main"
#COMPUTER = "aux"
MAIN_UDP_BATT_PORT = 4000
MAIN_UDP_IP = "192.168.0.203"
AUX_UDP_IP = "192.168.0.205"


# Spacex UDP connection info
SPACEX_UDP_IP = "192.168.0.1"
SPACEX_UDP_PORT = 3000

# Suspension UDP connection info
SUSPENSION_UDP_IP = "192.168.0.10"
SUSPENSION_UDP_PORT = 3000

# Local mysql db connection info
MYSQL_HOST = "localhost"
MYSQL_USER = "root"
MYSQL_PASSWORD = "password"
MYSQL_DB = "gatorloop"
TIME_FORMAT = "%Y-%m-%d %T:%f"

# Sensor related
BMS_PORT = 2001
# In meters
WHEEL_CIRCUMFERENCE = 1.835
WHEEL_1_DIST = 0
WHEEL_2_DIST = 0
TOTAL_STRIPES = 0
NUM_STRIPES_BRAKE = 3
NUM_STRIPES_PANIC = 3
DIST_BRAKE = 1000
READ_ROOF = 1
READ_WHEEL = 1
READ_ACC = 1
COAST_DETECT = 1

"""
Minimum Y direction G force that we consider the pod to be in the push state
"""
MIN_PUSH_ACCELERATION = 0

"""
Total time that the pusher is active (in seconds)
"""
TOTAL_PUSH_TIME = 60.0

# Amount of time to wait for a speed update to consider that the pod is no longer moving
SPEED_UPDATE_TIMEDIFF_SEC = 2

# Battery Voltages
LOW_BATTERY = 32000
HIGH_BATTERY = 44000

# Battery temperature sensors
MAIN_BATTERY_1 = "28-0416513911ff"
MAIN_BATTERY_2 = "28-03164546f2ff"
MAIN_BATTERY_3 = "28-041650bd37ff"
AUX_BATTERY_1 = "28-041652b584ff"
AUX_BATTERY_2 = "28-0416508ce6ff"
AUX_BATTERY_3 = "28-0316457ef7ff"

# Battery Temp Limits
BATTERY_MAX_TEMP = 65
BATTERY_LOW_TEMP = -20

# Arduino
OK = "RUOK"
ENGAGE_MAIN_BRAKES = "EM"
ENGAGE_AUXILIARY_BRAKES = "EA"
RELEASE_MAIN_BRAKES = "RM"
RELEASE_AUXILIARY_BRAKES = "RA"
LOWER_LINEAR_ACTUATORS = "LL"
RAISE_LINEAR_ACTUATORS = "RL"
FORWARD = "FW"
BACKWARD = "BW"
OFF_BRAKES = "OM"
OFF_AUXILIARY = "OA"
OFF_LINEAR_ACTUATORS = "OL"
STOPPED = "STOPPED"
KILL_ALL = "KILLALL"
RUNNING = "RUNNING"
STATUS = "STATUS"
KILL_POD = "KILLPOD"
BLDC_BRAKE = "BK"
PULSE_MAIN_BRAKES = "PM"
PULSE_AUXILIARY_BRAKES = "PA"

# Optical Sensor
RIGHT_WHEEL_OK_RESPONSE = "imokwr\n"
LEFT_WHEEL_OK_RESPONSE = "imokwl\n"
ROOF_OK_RESPONSE = "imoks\n"

# Suspension codes
network_endinanness = '>'
ping_message_req = struct.pack(network_endinanness+'BB', 0x10, 0)
start_scu_message_req = struct.pack(network_endinanness+'BB', 0x11, 0)
start_logging_message_req = struct.pack(network_endinanness+'BB', 0x12, 0)
stop_logging_message_req = struct.pack(network_endinanness+'BB', 0x13, 0)
stop_scu_message_req = struct.pack(network_endinanness+'BB', 0x14, 0)
available_space_message_req = struct.pack(network_endinanness+'BB', 0x15, 0) # Not implemented yet
clear_logs_message_req = struct.pack(network_endinanness+'BB', 0x16, 0) # Not implemented yet
heartbeat_message_reply = struct.pack(network_endinanness+'BBH', 0x57, 2, 0)


# Brake values
DISTANCE_TO_BEAM = 15
IBEAM_WIDTH = 10.8
ACTUATION_RATIO = 104.4
TIME_TO_BEAM = 1589
"""
    End of tube = 4224 ft
    Have to stop = 4124 ft
    150 ft of margin for error = 4124 - 150 = 3974 ft
    3974 ft = 1211.275 meters
"""
STOPPED_DISTANCE = 2000
EXPECTED_BRAKING_DECELERATION = 1.4
# interval we check braking ( in seconds )
BRAKING_SAMPLE_TIME = 0.2