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Merge pull request #240 from MissouriMRDT/coreboard-update
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Core Board Update
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@ThisIsBrady
ThisIsBrady authored May 6, 2023
2 parents d2d1588 + 8eb5822 commit 4a10f9e
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Showing 7 changed files with 173 additions and 137 deletions.
4 changes: 3 additions & 1 deletion assets/ControllerInput.json
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,9 @@
"OpenScoop": { "buttonType": "button", "button": "LB" },
"CloseScoop": { "buttonType": "button", "button": "RB" },
"IncrementOpen": { "buttonType": "button", "button": "LT" },
"IncrementClose": { "buttonType": "button", "button": "RT" }
"IncrementClose": { "buttonType": "button", "button": "RT" },
"MicroscopeFocusPlus": { "buttonType": "button", "button": "B" },
"MicroscopeFocusMinus": { "buttonType": "button", "button": "X" }
}
},
"ArmControls": {
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269 changes: 146 additions & 123 deletions assets/RovecommManifest.json
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Original file line number Diff line number Diff line change
Expand Up @@ -29,32 +29,8 @@
"Drive": {
"Ip": "192.168.2.103",
"Commands": {
"DriveLeftRight": {
"dataId": 1000,
"dataType": "INT16_T",
"dataCount": 2,
"comments": "[LeftSpeed, RightSpeed] (-1000, 1000)-> (-100%, 100%)"
},
"DriveIndividual": {
"dataId": 1001,
"dataType": "INT16_T",
"dataCount": 6,
"comments": "[LF, LM, LR, RF, RM, RR] (-1000, 1000)-> (-100%, 100%)"
},
"WatchdogOverride": {
"dataId": 1002,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "[0-Turn off Watchdog Override, 1-Turn on Watchdog Override]"
}
},
"Telemetry": {
"DriveSpeeds": {
"dataId": 1100,
"dataType": "INT16_T",
"dataCount": 6,
"comments": "[LF, LM, LR, RF, RM, RR] (-1000, 1000)-> (-100%, 100%)"
}
},
"Error": {}
},
Expand Down Expand Up @@ -140,7 +116,13 @@
"dataId": 3002,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "Gimbal, Drive, Multi, Nav, Cam, BBB, Spare Low"
"comments": "Gimbal, Drive, Multi, Nav, Spare Low"
},
"TwelveVBusEnable": {
"dataId": 3003,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "Cam, 12vSpare, Net1, Net2"
}
},
"Telemetry": {
Expand All @@ -160,25 +142,37 @@
"dataId": 3102,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "Gimbal, Drive, Multi, Nav, Cam, BBB, Spare Low"
"comments": "Gimbal, Drive, Multi, Nav, Spare Low"
},
"MotorBusCurrent": {
"TwelveVBusEnabled": {
"dataId": 3103,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "Cam, 12vSpare, Net1, Net2"
},
"MotorBusCurrent": {
"dataId": 3104,
"dataType": "FLOAT_T",
"dataCount": 7,
"comments": "M1, M2, M3, M4, M5, M6, Spare"
},
"HighBusCurrent": {
"dataId": 3104,
"dataId": 3105,
"dataType": "FLOAT_T",
"dataCount": 2,
"comments": "Aux, Spare High"
},
"LowBusCurrent": {
"dataId": 3105,
"dataId": 3106,
"dataType": "FLOAT_T",
"dataCount": 7,
"comments": "Gimbal, Drive, Multi, Nav, Cam, BBB, Spare Low"
"dataCount": 5,
"comments": "Gimbal, Drive, Multi, Nav, Spare Low"
},
"TwelveVBusCurrent": {
"dataId": 3107,
"dataType": "FLOAT_T",
"dataCount": 4,
"comments": "Cam, 12vSpare, Net1, Net2"
}
},
"Error": {
Expand Down Expand Up @@ -248,6 +242,12 @@
"dataType": "FLOAT_T",
"dataCount": 3,
"comments": "[xAxis, yAxis, zAxis] Accel in m/s^2"
},
"AccuracyData": {
"dataId": 5105,
"dataType": "FLOAT_T",
"dataCount": 3,
"comments": "[horizontal_accur, vertical_accur, heading_accur] Accuracy in meters/degrees"
}
},
"Error": {
Expand All @@ -262,85 +262,17 @@
"Gimbal": {
"Ip": "192.168.2.106",
"Commands": {
"LeftDriveGimbalIncrement": {
"dataId": 6000,
"dataType": "INT16_T",
"dataCount": 1,
"comments": "[Tilt](degrees -180-180)"
},
"RightDriveGimbalIncrement": {
"dataId": 6001,
"dataType": "INT16_T",
"dataCount": 1,
"comments": "[Tilt](degrees -180-180)"
},
"LeftMainGimbalIncrement": {
"dataId": 6002,
"dataType": "INT16_T",
"dataCount": 2,
"comments": "[Pan, Tilt](degrees -180-180)"
},
"RightMainGimbalIncrement": {
"dataId": 6003,
"dataType": "INT16_T",
"dataCount": 2,
"comments": "[Pan, Tilt](degrees -180-180)"
},
"InitiateTestRoutine": {
"dataId": 6004,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": ""
}
},
"Telemetry": {},
"Error": {}
},
"Multimedia": {
"Ip": "192.168.2.105",
"Commands": {
"LEDRGB": {
"dataId": 7000,
"dataType": "UINT8_T",
"dataCount": 3,
"comments": "[R, G, B] (0, 255)"
},
"LEDPatterns": {
"dataId": 7001,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "[Pattern] (Enum)"
},
"StateDisplay": {
"dataId": 7002,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "[Teleop, Autonomy, Reached Goal] (enum)"
},
"Brightness": {
"dataId": 7003,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "Set Brightness (0-255)"
}
},
"Telemetry": {},
"Error": {},
"Enums": {
"DISPLAYSTATE": {
"Teleop": 0,
"Autonomy": 1,
"Reached_Goal": 2
},
"PATTERNS": {
"MRDT": 0,
"BELGIUM": 1,
"MERICA": 2,
"DIRT": 3,
"DOTA": 4,
"MCD": 5,
"WINDOWS": 6
}
}
},
"Arm": {
Expand Down Expand Up @@ -408,36 +340,30 @@
},
"LimitSwitchOverride": {
"dataId": 8010,
"dataType": "UINT8_T",
"dataType": "UINT16_T",
"dataCount": 1,
"comments": "[Base Tilt Up, Base Tilt Down, Base Twist CW, Base Twist CCW, Elbow Tilt Up, Elbow Tilt Down, Elbow Twist CW, Elbow Twist CCW] (0-Turn off Limit Switch Override, 1-Turn on Limit Switch Override) (bitmasked)"
"comments": "[J6 Forward, J6 Reverse, J5 Forward, J5 Reverse, J4 Forward, J4 Reverse, J3 Forward, J3 Reverse, J2 Forward, J2 Reverse, J1 Forward, J1 Reverse] (0-Turn off Limit Switch Override, 1-Turn on Limit Switch Override) (bitmasked)"
},
"RequestJointPositions": {
"dataId": 8012,
"dataId": 8011,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "Prompt arm for J1-6 positions"
},
"TogglePositionTelem": {
"dataId": 8013,
"dataId": 8012,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "Start auto pushing arm J1-6 positions"
},
"RequestAxesPositions": {
"dataId": 8014,
"dataId": 8013,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "Prompt arm for XYZPYR Data"
}
},
"Telemetry": {
"MotorCurrents": {
"dataId": 8100,
"dataType": "FLOAT_T",
"dataCount": 6,
"comments": "[M1, M2, M3, M4, M5, M6] (0, A)"
},
"JointAngles": {
"dataId": 8101,
"dataType": "FLOAT_T",
Expand All @@ -463,12 +389,6 @@
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "[WatchDogStatus] (0-WD Not Triggered, 1-WD Triggered) "
},
"EncoderStatus": {
"dataId": 8201,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "[E1, E2, E3, E4, E5, E6] (0-Good, 1-Failure)"
}
}
},
Expand Down Expand Up @@ -534,6 +454,12 @@
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "Quickly barely open and close the scoop"
},
"MicroscopeFocus": {
"dataId": 9010,
"dataType": "INT16_T",
"dataCount": 1,
"comments": "Motor speed value (-1000,1000)"
}
},
"Telemetry": {
Expand Down Expand Up @@ -562,14 +488,8 @@
"dataCount": 1,
"comments": "[Wavelengths: 1, 2, 3, 4] (0-Disable, 1-Enable)"
},
"MicroscopeServo": {
"dataId": 10001,
"dataType": "INT8_T",
"dataCount": 1,
"comments": "Sign of value determines direction"
},
"ReqFluorometer": {
"dataId": 10002,
"dataId": 10001,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "Request a new Fluorometer reading"
Expand Down Expand Up @@ -781,6 +701,109 @@
},
"Error": {
}
},
"Core": {
"Ip": "192.168.2.110",
"Commands": {
"DriveLeftRight": {
"dataId": 17000,
"dataType": "FLOAT_T",
"dataCount": 2,
"comments": "[LeftSpeed, RightSpeed] (-1, 1)-> (-100%, 100%)"
},
"DriveIndividual": {
"dataId": 17001,
"dataType": "FLOAT_T",
"dataCount": 6,
"comments": "[LF, LM, LR, RF, RM, RR] (-1, 1)-> (-100%, 100%)"
},
"WatchdogOverride": {
"dataId": 17002,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "[0-Turn off Watchdog Override, 1-Turn on Watchdog Override]"
},
"LeftDriveGimbalIncrement": {
"dataId": 17003,
"dataType": "INT16_T",
"dataCount": 1,
"comments": "[Tilt](degrees -180-180)"
},
"RightDriveGimbalIncrement": {
"dataId": 17004,
"dataType": "INT16_T",
"dataCount": 1,
"comments": "[Tilt](degrees -180-180)"
},
"LeftMainGimbalIncrement": {
"dataId": 17005,
"dataType": "INT16_T",
"dataCount": 2,
"comments": "[Pan, Tilt](degrees -180-180)"
},
"RightMainGimbalIncrement": {
"dataId": 17006,
"dataType": "INT16_T",
"dataCount": 2,
"comments": "[Pan, Tilt](degrees -180-180)"
},
"InitiateTestRoutine": {
"dataId": 17007,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": ""
},
"LEDRGB": {
"dataId": 17008,
"dataType": "UINT8_T",
"dataCount": 3,
"comments": "[R, G, B] (0, 255)"
},
"LEDPatterns": {
"dataId": 17009,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "[Pattern] (Enum)"
},
"StateDisplay": {
"dataId": 17010,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "[Teleop, Autonomy, Reached Goal] (enum)"
},
"Brightness": {
"dataId": 17011,
"dataType": "UINT8_T",
"dataCount": 1,
"comments": "Set Brightness (0-255)"
}
},
"Telemetry": {
"DriveSpeeds": {
"dataId": 17100,
"dataType": "INT16_T",
"dataCount": 6,
"comments": "[LF, LM, LR, RF, RM, RR] (-1000, 1000)-> (-100%, 100%)"
}
},
"Error": {
},
"Enums": {
"DISPLAYSTATE": {
"Teleop": 0,
"Autonomy": 1,
"Reached_Goal": 2
},
"PATTERNS": {
"MRDT": 0,
"BELGIUM": 1,
"MERICA": 2,
"DIRT": 3,
"DOTA": 4,
"MCD": 5,
"WINDOWS": 6
}
}
}
},
"NetworkDevices": {
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