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Updated manifest to include new arm packets.
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@OcelotEmpire
OcelotEmpire committed Feb 2, 2025
1 parent 217d465 commit 487af98
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Showing 3 changed files with 53 additions and 28 deletions.
2 changes: 1 addition & 1 deletion RoveComm/RoveComm.csproj
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@@ -1,7 +1,7 @@
<Project Sdk="Microsoft.NET.Sdk">

<PropertyGroup>
<VersionPrefix>1.0.3</VersionPrefix>
<VersionPrefix>1.0.4</VersionPrefix>
<TargetFramework>net8.0</TargetFramework>
<ImplicitUsings>enable</ImplicitUsings>
<Nullable>enable</Nullable>
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77 changes: 51 additions & 26 deletions RoveComm/RoveCommManifest.cs
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Original file line number Diff line number Diff line change
Expand Up @@ -247,42 +247,50 @@ public static class SystemPackets
ip: "192.168.2.107",
commands: new Dictionary<string, RoveCommPacketDesc>
{
// [X, Y1, Y2, Z, P, R] Motor decipercent [-1000, 1000]
["OpenLoop"] = new RoveCommPacketDesc(8000, 6, RoveCommDataType.INT16_T),
// [X, Y1, Y2, Z, P, R] (in, in, in, in, deg, deg)
["SetPosition"] = new RoveCommPacketDesc(8001, 6, RoveCommDataType.FLOAT),
// [X, Y, Z, P, R] (in, in, in, deg, deg, deg)
["IncrementPosition"] = new RoveCommPacketDesc(8002, 5, RoveCommDataType.FLOAT),
// [X, Y, Z, P, R] (in, in, in, deg, deg)
["SetIK"] = new RoveCommPacketDesc(8003, 5, RoveCommDataType.FLOAT),
// [X, Y, Z, P, R] (in, in, in, deg, deg)
["IncrementIK_RoverRelative"] = new RoveCommPacketDesc(8004, 5, RoveCommDataType.FLOAT),
// [X, Y, Z, P, R] (in, in, in, deg, deg)
["IncrementIK_WristRelative"] = new RoveCommPacketDesc(8005, 5, RoveCommDataType.FLOAT),
// [X, J2, J3, J4, P, R] Motor decipercent [-1000, 1000]
["SetIndividualSpeeds"] = new RoveCommPacketDesc(8000, 6, RoveCommDataType.INT16_T),
// [JointID, Decipercent] Motor decipercent [-1000, 1000]
["SetJointSpeed"] = new RoveCommPacketDesc(8001, 2, RoveCommDataType.INT16_T),
// [X, J2, J3, J4, P, R] (in, deg, deg, deg, deg, deg)
["SetIndividualTargetAngles"] = new RoveCommPacketDesc(8002, 6, RoveCommDataType.FLOAT),
// [JointID, Position] (in for id 0, deg otherwise)
["SetJointTargetAngle"] = new RoveCommPacketDesc(8003, 2, RoveCommDataType.FLOAT),
// [X, J2, J3, J4, P, R] (in, deg, deg, deg, deg, deg)
["IncrementIndividualTargetAngles"] = new RoveCommPacketDesc(8004, 6, RoveCommDataType.FLOAT),
// [JointID, Angle] (in for id 0, deg otherwise)
["IncrementJointTargetAngle"] = new RoveCommPacketDesc(8005, 2, RoveCommDataType.FLOAT),
// [X, Y, Z, J4, P, R] (in, in, in, deg, deg, deg)
["SetIKPosition"] = new RoveCommPacketDesc(8006, 6, RoveCommDataType.FLOAT),
// [X, Y, Z, J4, P, R] (in, in, in, deg, deg, deg)
["IncrementIKPosition"] = new RoveCommPacketDesc(8007, 6, RoveCommDataType.FLOAT),
// [J4, P, R] (deg, deg, deg)
["SetLockModePosition"] = new RoveCommPacketDesc(8008, 3, RoveCommDataType.FLOAT),
// [J4, P, R] (deg, deg, deg)
["IncrementLockModePosition"] = new RoveCommPacketDesc(8009, 3, RoveCommDataType.FLOAT),
// [0-disable, 1-enable]
["Laser"] = new RoveCommPacketDesc(8006, 1, RoveCommDataType.UINT8_T),
["Laser"] = new RoveCommPacketDesc(8010, 1, RoveCommDataType.UINT8_T),
// [0-retract, 1-extend]
["Solenoid"] = new RoveCommPacketDesc(8007, 1, RoveCommDataType.UINT8_T),
["Solenoid"] = new RoveCommPacketDesc(8011, 1, RoveCommDataType.UINT8_T),
// Motor decipercent [-1000, 1000]
["Gripper"] = new RoveCommPacketDesc(8008, 1, RoveCommDataType.INT16_T),
// [0-override off, 1-override on]
["WatchdogOverride"] = new RoveCommPacketDesc(8009, 1, RoveCommDataType.UINT8_T),
// [X+, X-, Y1+, Y1-, Y2+, Y2-, Z+, Z-, P+, P-] (0-override off, 1-override on) (bitmasked)
["LimitSwitchOverride"] = new RoveCommPacketDesc(8010, 1, RoveCommDataType.UINT16_T),
// [X, Y1, Y2, Z, P, R1, R2] (1-calibrate, 0-no action) (bitmasked)
["CalibrateEncoder"] = new RoveCommPacketDesc(8011, 1, RoveCommDataType.UINT8_T),
// Toggle gripper and roll motors controlled by other packets; 0-Gripper1, 1-Gripper2
["SelectGripper"] = new RoveCommPacketDesc(8012, 1, RoveCommDataType.UINT8_T),
// [X+, X-, Y1+, Y1-, Y2+, Y2-, Z+, Z-, P+, P-] (0-override off, 1-override on) (bitmasked)
["SoftLimitOverride"] = new RoveCommPacketDesc(8013, 1, RoveCommDataType.UINT8_T)
["SetGripperSpeed"] = new RoveCommPacketDesc(8012, 1, RoveCommDataType.INT16_T),
// [0-override off, 1-override on] (bitmasked)
["WatchdogOverride"] = new RoveCommPacketDesc(8013, 1, RoveCommDataType.UINT8_T),
// [X+, X-, J2+, J2-, J3+, J3-, J4+, J4-, P] (0-override off, 1-override on) (bitmasked)
["LimitSwitchOverride"] = new RoveCommPacketDesc(8014, 9, RoveCommDataType.UINT16_T),
// [X, J2, J3, J4, P, R] (0-override off, 1-override on) (bitmasked)
["ClosedLoopOverride"] = new RoveCommPacketDesc(8015, 6, RoveCommDataType.UINT8_T),
// [X, Roll] (1-calibrate, 0-no action) (bitmasked)
["CalibrateEncoder"] = new RoveCommPacketDesc(8016, 2, RoveCommDataType.UINT8_T),
// [X+, X-, J2+, J2-, J3+, J3-, J4+, J4-, P+, P-] (0-override off, 1-override on) (bitmasked)
["SoftLimitOverride"] = new RoveCommPacketDesc(8017, 10, RoveCommDataType.UINT16_T)
},
telemetry: new Dictionary<string, RoveCommPacketDesc>
{
// [X, Y1, Y2, Z, Pitch, Roll1, Roll2] (in, in, in, in, deg, deg, deg)
["Positions"] = new RoveCommPacketDesc(8100, 7, RoveCommDataType.FLOAT),
// [X, Y, Z, P, R] (in, in, in, deg, deg)
["Coordinates"] = new RoveCommPacketDesc(8101, 5, RoveCommDataType.FLOAT),
// [X+, X-, Y1+, Y1-, Y2+, Y2-, Z+, Z-, Pitch+, Pitch-] (0-off, 1-on) (bitmasked)
// [X+, X-, J2+, J2-, J3+, J3-, J4+, J4-, Pitch] (0-off, 1-on) (bitmasked)
["LimitSwitchTriggered"] = new RoveCommPacketDesc(8102, 1, RoveCommDataType.UINT16_T)
},
errors: new Dictionary<string, RoveCommPacketDesc>
Expand Down Expand Up @@ -516,6 +524,23 @@ public static class SystemPackets
errors: new Dictionary<string, RoveCommPacketDesc>
{

}
),
["RoveSoSimulator"] = new RoveCommBoardDesc
(
ip: "127.0.0.1",
commands: new Dictionary<string, RoveCommPacketDesc>
{

},
telemetry: new Dictionary<string, RoveCommPacketDesc>
{
// Ultrasonic sensor distance reading in centimeters (cm). Value ranges from 0.00 to 500.00 cm
["Ultrasonic1"] = new RoveCommPacketDesc(99100, 2, RoveCommDataType.FLOAT)
},
errors: new Dictionary<string, RoveCommPacketDesc>
{

}
)
};
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2 changes: 1 addition & 1 deletion data/RoveComm
Submodule RoveComm updated 4 files
+14 −0 .github/scripts/readme-generate.py
+13 −1 .github/workflows/readme-generate.yml
+86 −15 README.md
+87 −40 manifest.json

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