...
| Code Block |
|---|
id: target: data: // these are updated every 200ms velocity: uint8_t (m/s) rpm: int16_t (-32,766 - 32,767) bus_voltage_v: uint16_t bus_current_a: uint16_t mc_limit_bitset: uint8_t mc_error_bitset: uint8_t // these are updated every second motor_temp_c: int8_t ? heatsink_temp_c: int8_t ? dsp_temp_c: int8_t ? |
Messages to center console
| Code Block |
|---|
1:
- velocity left: uint16
- velocity right: uint16
2:
- voltage left: uint16
- current left: uint16
- voltage right: uint16
- current right: uint16
3:
- limit_bitset left: uint8_t
- error_bitset left: uint8_t
- limit_bitset right: uint8_t
- error_bitset right: uint8_t
- board_fault bitset: uint8_t
- overtemp bitset: uint8_t
4:
- motor_temp left: uint16_t
- heatsink_temp left: uint16_t
- motor_temp right: uint16_t
- heatsink_temp right: uint16_t
5:
- dsp_temp left: uint32_t
- dsp_temp right: uint32_t |
FSM
There will be fsm to make sure state transitions are valid, valid transitions are
...