From 4172176fcda702c1ff131a9c4f569fff2ec24925 Mon Sep 17 00:00:00 2001 From: ruari-r Date: Tue, 28 Jan 2025 21:40:20 -0500 Subject: [PATCH 01/11] Remove Scooper Arm references --- science.proto | 19 +++++++++---------- 1 file changed, 9 insertions(+), 10 deletions(-) diff --git a/science.proto b/science.proto index c782d80..2cff14f 100644 --- a/science.proto +++ b/science.proto @@ -39,20 +39,19 @@ enum CarouselCommand { message ScienceCommand { // Individual control over each motor. Indicates steps to move float carousel_motor = 1; - float scoop_motor = 2; - float subsurface_motor = 3; + float subsurface_motor = 2; // Control over other hardware - PumpState pumps = 4; - ServoState funnel = 5; - ServoState scoop = 6; - CarouselCommand carousel = 7; + PumpState pumps = 3; + ServoState funnel = 4; + ServoState scoop = 5; + CarouselCommand carousel = 6; // High level commands - bool calibrate = 8; - bool stop = 9; - int32 sample = 10; - ScienceState state = 11; + bool calibrate = 7; + bool stop = 8; + int32 sample = 9; + ScienceState state = 10; } /// Data coming from the science subsystem. From 981d0c87f283384ae633396e3141015d6a830903 Mon Sep 17 00:00:00 2001 From: ruari-r Date: Tue, 28 Jan 2025 21:50:31 -0500 Subject: [PATCH 02/11] Removedd *the rest* of Scooper References --- science.proto | 1 - 1 file changed, 1 deletion(-) diff --git a/science.proto b/science.proto index 2cff14f..84cd267 100644 --- a/science.proto +++ b/science.proto @@ -44,7 +44,6 @@ message ScienceCommand { // Control over other hardware PumpState pumps = 3; ServoState funnel = 4; - ServoState scoop = 5; CarouselCommand carousel = 6; // High level commands From 2454e6681edd4211eb24ebed2edee79bc5d3b8b7 Mon Sep 17 00:00:00 2001 From: ruari-r Date: Tue, 28 Jan 2025 21:53:24 -0500 Subject: [PATCH 03/11] Added auger info to science.proto --- science.proto | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/science.proto b/science.proto index 84cd267..3324f4f 100644 --- a/science.proto +++ b/science.proto @@ -35,15 +35,23 @@ enum CarouselCommand { FILL_SECTION = 6; } +/// A command for the auger to follow +enum AugerCommand { + AUGER_COMMAND_UNDEFINED = 0; + AUGER_START = 1; + AUGER_STOP = 2; +} + /// A command to the science subsystem. message ScienceCommand { // Individual control over each motor. Indicates steps to move float carousel_motor = 1; float subsurface_motor = 2; + float auger_motor = 3 // Control over other hardware - PumpState pumps = 3; - ServoState funnel = 4; + PumpState pumps = 4; + ServoState funnel = 5; CarouselCommand carousel = 6; // High level commands From 723d542aef63bef18f00e2af8bfb18fa2e0acb17 Mon Sep 17 00:00:00 2001 From: ruari-r Date: Wed, 29 Jan 2025 21:09:35 -0500 Subject: [PATCH 04/11] Added semicolon --- science.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/science.proto b/science.proto index 3324f4f..3ae1f37 100644 --- a/science.proto +++ b/science.proto @@ -47,7 +47,7 @@ message ScienceCommand { // Individual control over each motor. Indicates steps to move float carousel_motor = 1; float subsurface_motor = 2; - float auger_motor = 3 + float auger_motor = 3; // Control over other hardware PumpState pumps = 4; From fb2cf9e07f0f66a9fcc37676658cb169857af0ca Mon Sep 17 00:00:00 2001 From: ruari-r Date: Tue, 11 Feb 2025 15:01:05 -0500 Subject: [PATCH 05/11] Removed auger from science to move to gripper --- science.proto | 16 +--------------- 1 file changed, 1 insertion(+), 15 deletions(-) diff --git a/science.proto b/science.proto index d16eeeb..1b7919b 100644 --- a/science.proto +++ b/science.proto @@ -37,19 +37,12 @@ enum CarouselCommand { FILL_SECTION = 6; } -/// A command for the auger to follow -enum AugerCommand { - AUGER_COMMAND_UNDEFINED = 0; - AUGER_START = 1; - AUGER_STOP = 2; -} /// A command to the science subsystem. message ScienceCommand { // Individual control over each motor. Indicates steps to move float carousel_motor = 1; float subsurface_motor = 2; - float auger_motor = 3; // Control over other hardware PumpState pumps = 4; @@ -57,19 +50,12 @@ message ScienceCommand { CarouselCommand carousel = 6; // High level commands -<<<<<<< HEAD bool calibrate = 7; bool stop = 8; int32 sample = 9; ScienceState state = 10; -======= - bool calibrate = 8; - bool stop = 9; - int32 sample = 10; - ScienceState state = 11; - Version version = 12; ->>>>>>> aa54e55fa8ee7a2561184858587fd903036de509 + Version version = 11; } /// Data coming from the science subsystem. From 788f35a24d1b07a9756267acbb7a3bcbf62f0e69 Mon Sep 17 00:00:00 2001 From: ruari-r Date: Wed, 12 Feb 2025 21:09:27 -0500 Subject: [PATCH 06/11] Updated version --- science.proto | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/science.proto b/science.proto index 1b7919b..6bddda7 100644 --- a/science.proto +++ b/science.proto @@ -1,4 +1,4 @@ -// Version 1.0 +// Version 2.0 syntax = "proto3"; From bd8534c3882b4e37ed392f106f8127c37a17b24d Mon Sep 17 00:00:00 2001 From: ruari-r Date: Wed, 12 Feb 2025 21:29:28 -0500 Subject: [PATCH 07/11] Change funnel to subsurface --- science.proto | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/science.proto b/science.proto index 6bddda7..343c11e 100644 --- a/science.proto +++ b/science.proto @@ -42,11 +42,11 @@ enum CarouselCommand { message ScienceCommand { // Individual control over each motor. Indicates steps to move float carousel_motor = 1; - float subsurface_motor = 2; + float subsurface_motor = 2; // Obsolete; leaving for legacy // Control over other hardware PumpState pumps = 4; - ServoState funnel = 5; + ServoState subsurface = 5; CarouselCommand carousel = 6; // High level commands @@ -68,6 +68,8 @@ message ScienceData { float co2 = 3; float humidity = 4; float temperature = 5; + + ServoState subsurface = 6; - Version version = 6; + Version version = 7; } From 9795300162aa9065d17d8ae7a2f448ce1cea32c3 Mon Sep 17 00:00:00 2001 From: Ruari Randall <165113847+ruari-r@users.noreply.github.com> Date: Wed, 12 Feb 2025 21:45:16 -0500 Subject: [PATCH 08/11] Auger proto (#38) Setting up auger control through protobuf --------- Co-authored-by: Kenou2005 --- arm.proto | 20 +++++++++++++++++++- 1 file changed, 19 insertions(+), 1 deletion(-) diff --git a/arm.proto b/arm.proto index 4bd3168..6d4ef90 100644 --- a/arm.proto +++ b/arm.proto @@ -1,4 +1,4 @@ -// Version: 1.2 +// Version: 1.3 syntax = "proto3"; import "version.proto"; @@ -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; @@ -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 { @@ -70,4 +86,6 @@ message GripperCommand { Version version = 9; int32 servoAngle = 10; BoolState laserState = 11; + + AugerCommand auger = 12; } From cc5faa738977cb93d2c0ee3078208035fba7d064 Mon Sep 17 00:00:00 2001 From: ruari-r Date: Wed, 12 Feb 2025 21:48:04 -0500 Subject: [PATCH 09/11] Removed old subsurface motor --- science.proto | 1 - 1 file changed, 1 deletion(-) diff --git a/science.proto b/science.proto index 343c11e..87cad23 100644 --- a/science.proto +++ b/science.proto @@ -42,7 +42,6 @@ enum CarouselCommand { message ScienceCommand { // Individual control over each motor. Indicates steps to move float carousel_motor = 1; - float subsurface_motor = 2; // Obsolete; leaving for legacy // Control over other hardware PumpState pumps = 4; From 5cf130e2fd7121b5002f58cbaec09791ba6ef2b0 Mon Sep 17 00:00:00 2001 From: ruari-r Date: Wed, 12 Feb 2025 21:58:01 -0500 Subject: [PATCH 10/11] Renumbered science commands --- science.proto | 17 ++++++++--------- 1 file changed, 8 insertions(+), 9 deletions(-) diff --git a/science.proto b/science.proto index 87cad23..cc82f2d 100644 --- a/science.proto +++ b/science.proto @@ -37,24 +37,23 @@ enum CarouselCommand { FILL_SECTION = 6; } - /// A command to the science subsystem. message ScienceCommand { // Individual control over each motor. Indicates steps to move float carousel_motor = 1; // Control over other hardware - PumpState pumps = 4; - ServoState subsurface = 5; - CarouselCommand carousel = 6; + PumpState pumps = 2; + ServoState subsurface = 3; + CarouselCommand carousel = 4; // High level commands - bool calibrate = 7; - bool stop = 8; - int32 sample = 9; - ScienceState state = 10; + bool calibrate = 5; + bool stop = 6; + int32 sample = 7; + ScienceState state = 8; - Version version = 11; + Version version = 9; } /// Data coming from the science subsystem. From dd8cba118190ed3a1652d51b53f6f81f6b9306fc Mon Sep 17 00:00:00 2001 From: kenneth ou Date: Sun, 16 Feb 2025 14:56:27 -0500 Subject: [PATCH 11/11] Made changes backwards-compatible --- science.proto | 28 ++++++++++++++++------------ 1 file changed, 16 insertions(+), 12 deletions(-) diff --git a/science.proto b/science.proto index cc82f2d..6f33ec0 100644 --- a/science.proto +++ b/science.proto @@ -1,4 +1,4 @@ -// Version 2.0 +// Version 1.1 syntax = "proto3"; @@ -41,19 +41,23 @@ enum CarouselCommand { message ScienceCommand { // Individual control over each motor. Indicates steps to move float carousel_motor = 1; + float unused_2 = 2; + float unused_3 = 3; + // Control over other hardware - PumpState pumps = 2; - ServoState subsurface = 3; - CarouselCommand carousel = 4; + PumpState pumps = 4; + ServoState unused_5 = 5; + ServoState subsurface = 6; + CarouselCommand carousel = 7; // High level commands - bool calibrate = 5; - bool stop = 6; - int32 sample = 7; - ScienceState state = 8; + bool calibrate = 8; + bool stop = 9; + int32 sample = 10; + ScienceState state = 11; - Version version = 9; + Version version = 12; } /// Data coming from the science subsystem. @@ -66,8 +70,8 @@ message ScienceData { float co2 = 3; float humidity = 4; float temperature = 5; - - ServoState subsurface = 6; - Version version = 7; + Version version = 6; + + ServoState subsurface = 7; }