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Auger proto #38

Merged
merged 6 commits into from
Feb 13, 2025
Merged

Auger proto #38

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1aab700
Setup support for auger commands in arm.proto
ruari-r Feb 12, 2025
a144cf8
Merge branch 'main' into auger-proto
Kenou2005 Feb 13, 2025
e648f2c
Merge branch 'auger-proto' of https://github.com/BinghamtonRover/Prot…
ruari-r Feb 13, 2025
b103906
Merge branch 'science-sar' into auger-proto
ruari-r Feb 13, 2025
8af08de
Bumper version to 1.3
ruari-r Feb 13, 2025
7d19601
Merge branch 'auger-proto' of https://github.com/BinghamtonRover/Prot…
ruari-r Feb 13, 2025
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18 changes: 18 additions & 0 deletions arm.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -42,6 +42,11 @@ message ArmCommand {
Version version = 11;
}

message AugerData {
int32 speedActual = 1;
BoolState augerOn = 2;
}

message GripperData {
MotorData lift = 1;
MotorData rotate = 2;
Expand All @@ -50,6 +55,17 @@ message GripperData {
Version version = 4;
int32 servoAngle = 5;
BoolState laserState = 6;

AugerData augerData = 7;
}

message AugerCommand {
float augerSpeed = 1;

// Indicates that [augerSpeed] = 0 is valid, even though 0 usually means no value.
bool speedSet = 2;

BoolState augerOn = 3;
}

message GripperCommand {
Expand All @@ -70,4 +86,6 @@ message GripperCommand {
Version version = 9;
int32 servoAngle = 10;
BoolState laserState = 11;

AugerCommand auger = 12;
}