- 1 - BeagleBone
- 17 - RESERVED: Rover Alive Packet
- 2 - Left/Front Wheel (speed, angle)
- 3 - Left/Middle Wheel (speed, angle)
- 4 - Left/Rear Wheel (speed, angle)
- 5 - Right/Front Wheel (speed, angle)
- 6 - Right/Middle Wheel (speed, angle)
- 7 - Right/Rear Wheel (speed, angle)
- 8 - Arm (secondAddr, angle, angle_overflow)
- 1 - Shoulder Motor
- 2 - Elbow Motor
- 9 - Wrist
- 1 - Angle Servo (secondAddr, angle, angle_overflow)
- 2 - Tilt Servo (secondAddr, angle)
- 3 - Scoop Actuate (secondAddr, command)
- 4 - Probe Actuate (secondAddr, distance)
- 5 - Probe Get Data (secondAddr, request)
- 6 - Get Voltage (secondAddr, request)
- 10 - Tripod
- 1 - Horizontal Servo (secondAddr, angle)
- 2 - Vertical Servo (secondAddr, angle)
- 3 - Zoom (secondAddr, distance)
- 11 - MUX (camera_select)
- 12 - Package (package_select)
- 1 - BeagleBone + 17 - RESERVED: Rover Alive Packet
- 2,3,4 - Left/Front,Middle,Rear Wheels
- 5,6,7 - Right/Front,Middle,Rear Wheels
- 8 - Arm
- 1 - Shoulder Motor
- 2 - Elbow Motor
- 9 - Wrist
- 1 - Angle Servo
- 2 - Tilt Servo
- 3 - Scoop Actuate
- 4 - Probe Actuate
- 5 - Probe Get Data
- 6 - Get Voltage
- 10 - Tripod
- 1 - Horizontal Servo
- 2 - Vertical Servo
- 3 - Zoom
- 11 - MUX
- 12 - Package
- This is the start of the program.
- Starts RoverStatus()
- Starts all GUI modules
- Pass self as parent to each
- Pass roverStatus class to each
- This is a pointer to this object
- The roverStatus object will be updated and use by each module
- Starts JoyStick Module [TODO:]
- Pass self as parent
- Should refresh parent after updating roverStatus
- Pass roverStatus class
- JoyStick can update positions of axis and buttons
- Pass self as parent
- Starts "listener"
- Pass self as parent
- Should refresh parent after update roverStatus
- Pass roverStatus class
- Update rover positions with data from rover
- Pass self as parent
- drive_mode - selected drive mode
- wheel - array of 6 wheels
- angle -
-90 to 90angle of wheel - velo - velocity of wheel
- omega - turn rate of each wheel [TODO: not needed right now]
- angle -
- angle - used for vector steering
- throttle - used for adjustment for max velocity of wheels
- arm_seg - Array of each arm piece
- len - length of each arm
- used for calculation
- angle - angle relative to the other arm
- used for calculation
- used for moving arm to that position
- len - length of each arm
- wrist_angle
- wrist_tilt
- scoop_open
- voltage
- package_one
- package_two
- package_three
- package_four
- package_five
- package_six
- soil_moisture
- conductivity
- salinity
- f_temp
- c_temp
- Attributes
- parent - GUI class
- roverStatus - class that holds current data of rover
- Functions
- OnEvent - any change in joystick controls update roverStatus
- Change joystick attribute in roverStatus
- refresh parent, so that parent knows that roverStatus has changed.
- OnEvent - any change in joystick controls update roverStatus
- Attributs
- parent - GUI class
- roverStatus - class that holds current data of rover
- Functions
- OnMessage - pase message and update roverStatus
- Change wheel, arm, package, etc attributes in roverStatus
- refresh parent, so that parent knows that roverStatus has changed.
- OnMessage - pase message and update roverStatus