From 487af984964125666da6181888e0a150cc884eda Mon Sep 17 00:00:00 2001 From: OcelotEmpire Date: Sun, 2 Feb 2025 01:19:47 -0600 Subject: [PATCH] Updated manifest to include new arm packets. --- RoveComm/RoveComm.csproj | 2 +- RoveComm/RoveCommManifest.cs | 77 ++++++++++++++++++++++++------------ data/RoveComm | 2 +- 3 files changed, 53 insertions(+), 28 deletions(-) diff --git a/RoveComm/RoveComm.csproj b/RoveComm/RoveComm.csproj index 6de913c..78c37c7 100644 --- a/RoveComm/RoveComm.csproj +++ b/RoveComm/RoveComm.csproj @@ -1,7 +1,7 @@  - 1.0.3 + 1.0.4 net8.0 enable enable diff --git a/RoveComm/RoveCommManifest.cs b/RoveComm/RoveCommManifest.cs index 6f68aa6..be71725 100644 --- a/RoveComm/RoveCommManifest.cs +++ b/RoveComm/RoveCommManifest.cs @@ -247,34 +247,42 @@ public static class SystemPackets ip: "192.168.2.107", commands: new Dictionary { - // [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 { @@ -282,7 +290,7 @@ public static class SystemPackets ["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 @@ -516,6 +524,23 @@ public static class SystemPackets errors: new Dictionary { + } + ), + ["RoveSoSimulator"] = new RoveCommBoardDesc + ( + ip: "127.0.0.1", + commands: new Dictionary + { + + }, + telemetry: new Dictionary + { + // 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 + { + } ) }; diff --git a/data/RoveComm b/data/RoveComm index cc53e1e..1d9b97c 160000 --- a/data/RoveComm +++ b/data/RoveComm @@ -1 +1 @@ -Subproject commit cc53e1eddc95069d3330793ee9779e5832ea7623 +Subproject commit 1d9b97cf6826e88eefb89378c312b70dba66f646