Body v2: Hoverboard Motors (#2308)

* body

* hoverboard motors

* pass test

* body ignition exception and remove used comms

Co-authored-by: rexblade21 <zkhuang4968@gmail.com>

* send extra empty message to distinguish fingerprint

* can.h body v2 put safety hook = 1

* change v2 extra id to 0x396

* fix mirsa style error

* move ignition exception to seperate bus 2 if statement

* silence heartbeat siren on body

* turn ignition off on switch repress

* 0x250 interception in panda fw

* send extra body data, same as v1 body

* cleanup data passing for more predictable inputs and lower rpm deadband

* remove extra downscaling

* change v2 fingerprint from 0x002 to 0x222

* clean up, bus 0 ignition exception and trq mode

* keep in SPD mode for now

* remove comment

* clean

* apply suggestions

---------

Co-authored-by: stefpi <19478336+stefpi@users.noreply.github.com>

Author: jhuang2006

board/body/__init__.py

@@ -8,35 +8,37 @@ class PandaBody(Panda):
   MOTOR_LEFT: int = 1
   MOTOR_RIGHT: int = 2
 
+  def __init__(self, *args, **kwargs):
+    super().__init__(*args, **kwargs)
+    self._rpm_left: int = 0
+    self._rpm_right: int = 0
+
+  @property
+  def rpm_left(self) -> int:
+    return self._rpm_left
+
+  @rpm_left.setter
+  def rpm_left(self, value: int) -> None:
+    self._rpm_left = int(value)
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xb3, self._rpm_left, self._rpm_right, b'')
+
+  @property
+  def rpm_right(self) -> int:
+    return self._rpm_right
+
+  @rpm_right.setter
+  def rpm_right(self, value: int) -> None:
+    self._rpm_right = int(value)
+    self._handle.controlWrite(Panda.REQUEST_OUT, 0xb3, self._rpm_left, self._rpm_right, b'')
+
   # ****************** Motor Control *****************
   @staticmethod
   def _ensure_valid_motor(motor: int) -> None:
     if motor not in (PandaBody.MOTOR_LEFT, PandaBody.MOTOR_RIGHT):
       raise ValueError("motor must be MOTOR_LEFT or MOTOR_RIGHT")
 
-  def motor_set_speed(self, motor: int, speed: int) -> None:
-    self._ensure_valid_motor(motor)
-    assert -100 <= speed <= 100, "speed must be between -100 and 100"
-    speed_param = speed if speed >= 0 else (256 + speed)
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe0, motor, speed_param, b'')
-
-  def motor_set_target_rpm(self, motor: int, rpm: float) -> None:
-    self._ensure_valid_motor(motor)
-    target_deci_rpm = int(round(rpm * 10.0))
-    assert -32768 <= target_deci_rpm <= 32767, "target rpm out of range (-3276.8 to 3276.7)"
-    target_param = target_deci_rpm if target_deci_rpm >= 0 else (target_deci_rpm + (1 << 16))
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe4, motor, target_param, b'')
-
-  def motor_stop(self, motor: int) -> None:
-    self._ensure_valid_motor(motor)
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe1, motor, 0, b'')
-
   def motor_get_encoder_state(self, motor: int) -> tuple[int, float]:
     self._ensure_valid_motor(motor)
     dat = self._handle.controlRead(Panda.REQUEST_IN, 0xe2, motor, 0, 8)
     position, rpm_milli = struct.unpack("<ii", dat)
     return position, rpm_milli / 1000.0
-
-  def motor_reset_encoder(self, motor: int) -> None:
-    self._ensure_valid_motor(motor)
-    self._handle.controlWrite(Panda.REQUEST_OUT, 0xe3, motor, 0, b'')