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| # RoveComm Manifest | ||
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| ## Core Board | ||
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| **IP**: 192.168.2.110 | ||
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| ### Commands | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **DriveLeftRight** | 3000 | `FLOAT_T` | 2 | [LeftSpeed, RightSpeed] (-1, 1)-> (-100%, 100%) | | ||
| | **DriveIndividual** | 3001 | `FLOAT_T` | 6 | [LF, LM, LR, RF, RM, RR] (-1, 1)-> (-100%, 100%) | | ||
| | **WatchdogOverride** | 3002 | `UINT8_T` | 1 | [0-override off, 1-override on] | | ||
| | **LeftDriveGimbalIncrement** | 3003 | `INT16_T` | 1 | [Tilt](degrees -180-180) | | ||
| | **RightDriveGimbalIncrement** | 3004 | `INT16_T` | 1 | [Tilt](degrees -180-180) | | ||
| | **LeftMainGimbalIncrement** | 3005 | `INT16_T` | 2 | [Pan, Tilt](degrees -180-180) | | ||
| | **RightMainGimbalIncrement** | 3006 | `INT16_T` | 2 | [Pan, Tilt](degrees -180-180) | | ||
| | **BackDriveGimbalIncrement** | 3007 | `INT16_T` | 1 | [Tilt](degrees -180-180) | | ||
| | **LEDRGB** | 3008 | `UINT8_T` | 3 | [R, G, B] (0, 255) | | ||
| | **LEDPatterns** | 3009 | `UINT8_T` | 1 | [Pattern] (Enum) | | ||
| | **StateDisplay** | 3010 | `UINT8_T` | 1 | [Teleop, Autonomy, Reached Goal] (enum) | | ||
| | **Brightness** | 3011 | `UINT8_T` | 1 | Set Brightness (0-255) | | ||
| | **SetWatchdogMode** | 3012 | `UINT8_T` | 1 | 0: Teleop, 1: Autonomy | | ||
| | **LEDText** | 3013 | `CHAR` | 256 | Set the message to display on the lighting panel; null terminator ends string early | | ||
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| ### Telemetry | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **DriveSpeeds** | 3100 | `FLOAT_T` | 6 | [LF, LM, LR, RF, RM, RR] (-1, 1)-> (-100%, 100%) | | ||
| | **IMUData** | 3101 | `FLOAT_T` | 3 | [Roll, Pitch, Yaw] degrees | | ||
| | **AccelerometerData** | 3102 | `FLOAT_T` | 3 | [xAxis, yAxis, zAxis] Accel in m/s^2 | | ||
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| ## PMS Board | ||
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| **IP**: 192.168.2.102 | ||
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| ### Commands | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **EStop** | 4000 | `UINT8_T` | 1 | Power off all systems except network (PMS will stay on) | | ||
| | **Suicide** | 4001 | `UINT8_T` | 1 | Power off all systems including network, cannot recover without physical reboot (PMS will stay on) | | ||
| | **Reboot** | 4002 | `UINT8_T` | 1 | Cycle all systems including network off and back on (PMS will stay on) | | ||
| | **EnableBus** | 4003 | `UINT8_T` | 1 | [Motor, Core, Aux] (bitmasked) [1-Enable, 0-No change] | | ||
| | **DisableBus** | 4004 | `UINT8_T` | 1 | [Motor, Core, Aux] (bitmasked) [1-Disable, 0-No change] | | ||
| | **SetBus** | 4005 | `UINT8_T` | 1 | [Motor, Core, Aux] (bitmasked) [1-Enable, 0-Disable] | | ||
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| ### Telemetry | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **PackCurrent** | 4100 | `FLOAT_T` | 1 | Total current draw from battery | | ||
| | **PackVoltage** | 4101 | `FLOAT_T` | 1 | Pack voltage | | ||
| | **CellVoltage** | 4102 | `FLOAT_T` | 6 | C1, C2, C3, C4, C5, C6 | | ||
| | **AuxCurrent** | 4103 | `FLOAT_T` | 1 | Current draw by aux systems (before 12V buck) | | ||
| | **MiscCurrent** | 4104 | `FLOAT_T` | 3 | Current draw from other devices (CS1, CS2, CS3) | | ||
| | **BusStatus** | 4105 | `UINT8_T` | 1 | [Motor, Core, Aux, Network] (bitmasked) [1-Enabled, 0-Disabled] | | ||
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| ### Errors | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **PackOvercurrent** | 4200 | `UINT8_T` | 1 | Higher current draw than the battery can support. Rover will Reboot automatically | | ||
| | **CellUndervoltage** | 4201 | `UINT8_T` | 1 | (bitmasked) [1-Undervolt, 0-OK]. Rover will EStop automatically | | ||
| | **CellCritical** | 4202 | `UINT8_T` | 1 | (bitmasked) [1-Critical, 0-OK]. Rover will Suicide automatically | | ||
| | **AuxOvercurrent** | 4203 | `UINT8_T` | 1 | Aux system current draw too high. Rover will disable Aux bus automatically | | ||
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| ## Nav Board | ||
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| **IP**: 192.168.2.104 | ||
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| ### Telemetry | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **GPSLatLonAlt** | 6100 | `DOUBLE_T` | 3 | [Lat, Long, Alt] [(-90, 90), (-180, 180)(deg), (0, 1000)] | | ||
| | **IMUData** | 6101 | `FLOAT_T` | 3 | [Pitch, Yaw, Roll] [(-90, 90), (0, 360), (-90, 90)] (deg) | | ||
| | **CompassData** | 6102 | `FLOAT_T` | 1 | [Heading] [ 0, 360 ] | | ||
| | **SatelliteCountData** | 6103 | `UINT8_T` | 1 | [Number of satellites] | | ||
| | **AccelerometerData** | 6104 | `FLOAT_T` | 3 | [xAxis, yAxis, zAxis] Accel in m/s^2 | | ||
| | **AccuracyData** | 6105 | `FLOAT_T` | 5 | [horizontal_accur, vertical_accur, heading_accur, fix_type, is_differentia] [meters, meters, degrees, ublox_navpvt fix type (http://docs.ros.org/en/noetic/api/ublox_msgs/html/msg/NavPVT.html), boolean] | | ||
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| ### Errors | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **GPSLockError** | 6200 | `UINT8_T` | 1 | | | ||
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| ## BaseStationNav Board | ||
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| **IP**: 192.168.100.112 | ||
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| ## SignalStack Board | ||
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| **IP**: 192.168.100.101 | ||
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| ### Commands | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **OpenLoop** | 7000 | `INT16_T` | 1 | Motor decipercent [-1000, 1000] | | ||
| | **SetAngleTarget** | 7001 | `FLOAT_T` | 1 | [Heading] [0, 360) | | ||
| | **SetGPSTarget** | 7002 | `DOUBLE_T` | 4 | [Rover Lat, Rover Long, Basestation Lat, Basestation Long] [Lat:(-90, 90), Long:(-180, 180)] (deg) | | ||
| | **WatchdogOverride** | 7003 | `UINT8_T` | 1 | [0-override off, 1-override on] | | ||
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| ### Telemetry | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **CompassAngle** | 7100 | `FLOAT_T` | 1 | [Heading] [0, 360) | | ||
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| ### Errors | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **WatchdogStatus** | 7200 | `UINT8_T` | 1 | (1-Watchdog timeout, 0-OK) | | ||
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| ## Arm Board | ||
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| **IP**: 192.168.2.107 | ||
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| ### Commands | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **OpenLoop** | 8000 | `INT16_T` | 6 | [X, Y1, Y2, Z, P, R] Motor decipercent [-1000, 1000] | | ||
| | **SetPosition** | 8001 | `FLOAT_T` | 6 | [X, Y1, Y2, Z, P, R] (in, in, in, in, deg, deg) | | ||
| | **IncrementPosition** | 8002 | `FLOAT_T` | 5 | [X, Y, Z, P, R] (in, in, in, deg, deg, deg) | | ||
| | **SetIK** | 8003 | `FLOAT_T` | 5 | [X, Y, Z, P, R] (in, in, in, deg, deg) | | ||
| | **IncrementIK_RoverRelative** | 8004 | `FLOAT_T` | 5 | [X, Y, Z, P, R] (in, in, in, deg, deg) | | ||
| | **IncrementIK_WristRelative** | 8005 | `FLOAT_T` | 5 | [X, Y, Z, P, R] (in, in, in, deg, deg) | | ||
| | **Laser** | 8006 | `UINT8_T` | 1 | [0-disable, 1-enable] | | ||
| | **Solenoid** | 8007 | `UINT8_T` | 1 | [0-retract, 1-extend] | | ||
| | **Gripper** | 8008 | `INT16_T` | 1 | Motor decipercent [-1000, 1000] | | ||
| | **WatchdogOverride** | 8009 | `UINT8_T` | 1 | [0-override off, 1-override on] | | ||
| | **LimitSwitchOverride** | 8010 | `UINT16_T` | 1 | [X+, X-, Y1+, Y1-, Y2+, Y2-, Z+, Z-, P+, P-] (0-override off, 1-override on) (bitmasked) | | ||
| | **CalibrateEncoder** | 8011 | `UINT8_T` | 1 | [X, Y1, Y2, Z, P, R1, R2] (1-calibrate, 0-no action) (bitmasked) | | ||
| | **SelectGripper** | 8012 | `UINT8_T` | 1 | Toggle gripper and roll motors controlled by other packets; 0-Gripper1, 1-Gripper2 | | ||
| | **SoftLimitOverride** | 8013 | `UINT8_T` | 1 | [X+, X-, Y1+, Y1-, Y2+, Y2-, Z+, Z-, P+, P-] (0-override off, 1-override on) (bitmasked) | | ||
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| ### Telemetry | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **Positions** | 8100 | `FLOAT_T` | 7 | [X, Y1, Y2, Z, Pitch, Roll1, Roll2] (in, in, in, in, deg, deg, deg) | | ||
| | **Coordinates** | 8101 | `FLOAT_T` | 5 | [X, Y, Z, P, R] (in, in, in, deg, deg) | | ||
| | **LimitSwitchTriggered** | 8102 | `UINT16_T` | 1 | [X+, X-, Y1+, Y1-, Y2+, Y2-, Z+, Z-, Pitch+, Pitch-] (0-off, 1-on) (bitmasked) | | ||
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| ### Errors | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **WatchdogStatus** | 8200 | `UINT8_T` | 1 | (1-Watchdog timeout, 0-OK) | | ||
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| ## ScienceActuation Board | ||
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| **IP**: 192.168.2.108 | ||
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| ### Commands | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **ScoopAxis_OpenLoop** | 9000 | `INT16_T` | 1 | Motor decipercent [-1000, 1000] | | ||
| | **SensorAxis_OpenLoop** | 9001 | `INT16_T` | 1 | Motor decipercent [-1000, 1000] | | ||
| | **ScoopAxis_SetPosition** | 9002 | `FLOAT_T` | 1 | Absolute position (in) | | ||
| | **SensorAxis_SetPosition** | 9003 | `FLOAT_T` | 1 | Absolute position (in) | | ||
| | **ScoopAxis_IncrementPosition** | 9004 | `FLOAT_T` | 1 | (in) | | ||
| | **SensorAxis_IncrementPosition** | 9005 | `FLOAT_T` | 1 | (in) | | ||
| | **LimitSwitchOverride** | 9006 | `UINT8_T` | 1 | [ScoopAxis+, ScoopAxis-, SensorAxis+, SensorAxis-] (0-override off, 1-override on) (bitmasked) | | ||
| | **Auger** | 9007 | `INT16_T` | 1 | Motor decipercent [-1000, 1000] | | ||
| | **Microscope** | 9008 | `UINT8_T` | 1 | [0-180] (degrees) | | ||
| | **WatchdogOverride** | 9010 | `UINT8_T` | 1 | [0-override off, 1-override on] | | ||
| | **CalibrateEncoder** | 9011 | `UINT8_T` | 1 | [ScoopAxis, SensorAxis, Proboscis] (1-calibrate, 0-no action) (bitmasked) | | ||
| | **RequestHumidity** | 9012 | `UINT8_T` | 1 | Request the humidity of the instrument | | ||
| | **AugerGimbalIncrement** | 9013 | `INT16_T` | 2 | [Pan, Tilt](degrees -180-180) | | ||
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| ### Telemetry | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **Positions** | 9100 | `FLOAT_T` | 2 | [ScoopAxis, SensorAxis] (in) | | ||
| | **LimitSwitchTriggered** | 9101 | `UINT8_T` | 1 | [ScoopAxis+, ScoopAxis-, SensorAxis+, SensorAxis-] (0-off, 1-on) (bitmasked) | | ||
| | **Humidity** | 9102 | `FLOAT_T` | 1 | [Humidity] (relative humidity %) | | ||
| | **AugerSpeed** | 9103 | `FLOAT_T` | 1 | (in/s) | | ||
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| ### Errors | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **WatchdogStatus** | 9200 | `UINT8_T` | 1 | (1-Watchdog timeout, 0-OK) | | ||
| | **AugerStalled** | 9201 | `UINT8_T` | 1 | (1-Stalled, 0-OK) | | ||
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| ## Autonomy Board | ||
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| **IP**: 192.168.3.101 | ||
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| ### Commands | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **StartAutonomy** | 11000 | `UINT8_T` | 1 | | | ||
| | **DisableAutonomy** | 11001 | `UINT8_T` | 1 | | | ||
| | **AddPositionLeg** | 11002 | `DOUBLE_T` | 2 | [Lat, Lon] | | ||
| | **AddMarkerLeg** | 11003 | `DOUBLE_T` | 2 | [Lat, Lon] | | ||
| | **AddObjectLeg** | 11004 | `DOUBLE_T` | 2 | [Lat, Lon] | | ||
| | **ClearWaypoints** | 11005 | `UINT8_T` | 1 | | | ||
| | **SetMaxSpeed** | 11006 | `FLOAT_T` | 1 | A multiplier from 0.0 to 1.0 that will scale the max power effort of Autonomy | | ||
| | **SetLoggingLevels** | 11007 | `UINT8_T` | 3 | [Enum (AUTONOMYLOG), Enum (AUTONOMYLOG), Enum (AUTONOMYLOG)] {Console, File, RoveComm} | | ||
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| ### Telemetry | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **CurrentState** | 11100 | `UINT8_T` | 1 | Enum (AUTONOMYSTATE) | | ||
| | **ReachedGoal** | 11101 | `UINT8_T` | 1 | | | ||
| | **CurrentLog** | 11102 | `CHAR` | 255 | String version of most current error log | | ||
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| ## Camera1 Board | ||
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| **IP**: 192.168.4.100 | ||
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| ### Commands | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **ChangeCameras** | 12000 | `UINT8_T` | 2 | Change which camera a feed is looking at. [0] is the feed, [1] is the camera to view. | | ||
| | **TakePicture** | 12001 | `UINT8_T` | 2 | Take a picture with the current camera. [0] is the camera to take a picture with. [1] tells the camera whether to restart the stream afterwards. | | ||
| | **ToggleStream1** | 12002 | `UINT8_T` | 2 | Stop the current camera stream. [0] is the camera to stop streaming. [1] is whether to restart the stream. | | ||
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| ### Telemetry | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **AvailableCameras** | 12100 | `UINT8_T` | 1 | Bitmask values for which cameras are able to stream. LSB is Camera 0, MSB is Camera 7. | | ||
| | **StreamingCameras** | 12101 | `UINT8_T` | 4 | Which cameras the system is currently streaming on each port | | ||
| | **PictureTaken1** | 12102 | `UINT8_T` | 1 | Picture has been taken. | | ||
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| ### Errors | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **CameraUnavailable** | 12200 | `UINT8_T` | 1 | Camera has errored and stopped streaming. [0] is ID of camera as an integer (not bitmask). | | ||
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| ## Camera2 Board | ||
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| **IP**: 192.168.4.101 | ||
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| ### Commands | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **TakePicture** | 13001 | `UINT8_T` | 1 | Take a picture with the current camera. [0] is the camera to take a picture with. [1] tells the camera whether to restart the stream afterwards. | | ||
| | **ToggleStream2** | 13002 | `UINT8_T` | 2 | Stop the current camera stream. [0] is the camera to stop streaming. [1] is whether to restart the stream. | | ||
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| ### Telemetry | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **PictureTaken2** | 13100 | `UINT8_T` | 1 | Picture has been taken. | | ||
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| ## IRSpectrometer Board | ||
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| **IP**: 192.168.3.104 | ||
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| ## Instruments Board | ||
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| **IP**: 192.168.3.105 | ||
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| ### Commands | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **EnableLEDs** | 16000 | `UINT8_T` | 1 | [Green, White] [1-Enabled, 0-Disabled] (bitmasked) | | ||
| | **RequestRamanReading** | 16001 | `UINT32_T` | 1 | Start a Raman reading, with the provided integration time (milliseconds) | | ||
| | **RequestReflectanceReading** | 16002 | `UINT32_T` | 1 | Start a Reflectance reading, with the provided integration time (milliseconds) | | ||
| | **RequestTemperature** | 16003 | `UINT8_T` | 1 | Request the temperature of the instrument | | ||
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| ### Telemetry | ||
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| | name | dataId | type | count | description | | ||
| | :--- | ------ | ---- | ----- | ----------- | | ||
| | **RamanReading_Part1** | 16100 | `UINT16_T` | 500 | Raman CCD elements 1-500 | | ||
| | **RamanReading_Part2** | 16101 | `UINT16_T` | 500 | Raman CCD elements 501-1000 | | ||
| | **RamanReading_Part3** | 16102 | `UINT16_T` | 500 | Raman CCD elements 1001-1500 | | ||
| | **RamanReading_Part4** | 16103 | `UINT16_T` | 500 | Raman CCD elements 1501-2000 | | ||
| | **RamanReading_Part5** | 16104 | `UINT16_T` | 48 | Raman CCD elements 2001-2048 | | ||
| | **ReflectanceReading** | 16105 | `UINT8_T` | 288 | Reflectance CCD elements 1-288 | | ||
| | **Temperature** | 16106 | `INT8_T` | 1 | [Temperature] (degrees C) | | ||
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