21 lines
456 B
Python
21 lines
456 B
Python
def create_control(packer, torque_l, torque_r):
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values = {
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"TORQUE_L": torque_l,
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"TORQUE_R": torque_r,
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}
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return packer.make_can_msg("TORQUE_CMD", 0, values)
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def body_checksum(address: int, sig, d: bytearray) -> int:
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crc = 0xFF
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poly = 0xD5
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for i in range(len(d) - 2, -1, -1):
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crc ^= d[i]
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for _ in range(8):
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if crc & 0x80:
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crc = ((crc << 1) ^ poly) & 0xFF
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else:
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crc = (crc << 1) & 0xFF
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return crc
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