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Mars Rover Primary and Secondary Addresses (w/ Data)

  • 1 - BeagleBone
    • 17 - RESERVED: Rover Alive Packet
  • 2 - Left/Front Wheel (speed, angle)
  • 3 - Left/Middle Wheel (speed, angle)
  • 4 - Left/Rear Wheel (speed, angle)
  • 5 - Right/Front Wheel (speed, angle)
  • 6 - Right/Middle Wheel (speed, angle)
  • 7 - Right/Rear Wheel (speed, angle)
  • 8 - Arm (secondAddr, angle, angle_overflow)
    • 1 - Shoulder Motor
    • 2 - Elbow Motor
  • 9 - Wrist
    • 1 - Angle Servo (secondAddr, angle, angle_overflow)
    • 2 - Tilt Servo (secondAddr, angle)
    • 3 - Scoop Actuate (secondAddr, command)
    • 4 - Probe Actuate (secondAddr, distance)
    • 5 - Probe Get Data (secondAddr, request)
    • 6 - Get Voltage (secondAddr, request)
  • 10 - Tripod
    • 1 - Horizontal Servo (secondAddr, angle)
    • 2 - Vertical Servo (secondAddr, angle)
    • 3 - Zoom (secondAddr, distance)
  • 11 - MUX (camera_select)
  • 12 - Package (package_select)

Mars Rover Packet Data Formats

  • 1 - BeagleBone + 17 - RESERVED: Rover Alive Packet
  • 2,3,4 - Left/Front,Middle,Rear Wheels
  • 5,6,7 - Right/Front,Middle,Rear Wheels
  • 8 - Arm
    • 1 - Shoulder Motor
    • 2 - Elbow Motor
  • 9 - Wrist
    • 1 - Angle Servo
    • 2 - Tilt Servo
    • 3 - Scoop Actuate
    • 4 - Probe Actuate
    • 5 - Probe Get Data
    • 6 - Get Voltage
  • 10 - Tripod
    • 1 - Horizontal Servo
    • 2 - Vertical Servo
    • 3 - Zoom
  • 11 - MUX
  • 12 - Package

Mars Rover Code Flow

GUI Class

  • This is the start of the program.
  • Starts RoverStatus()
  • Starts all GUI modules
    • Pass self as parent to each
    • Pass roverStatus class to each
      • This is a pointer to this object
      • The roverStatus object will be updated and use by each module
  • Starts JoyStick Module [TODO:]
    • Pass self as parent
      • Should refresh parent after updating roverStatus
    • Pass roverStatus class
      • JoyStick can update positions of axis and buttons
  • Starts "listener"
    • Pass self as parent
      • Should refresh parent after update roverStatus
    • Pass roverStatus class
      • Update rover positions with data from rover

RoverStatus Class

  • drive_mode - selected drive mode
  • wheel - array of 6 wheels
    • angle - -90 to 90 angle of wheel
    • velo - velocity of wheel
    • omega - turn rate of each wheel [TODO: not needed right now]
  • angle - used for vector steering
  • throttle - used for adjustment for max velocity of wheels
  • arm_seg - Array of each arm piece
    • len - length of each arm
      • used for calculation
    • angle - angle relative to the other arm
      • used for calculation
      • used for moving arm to that position
  • wrist_angle
  • wrist_tilt
  • scoop_open
  • voltage
  • package_one
  • package_two
  • package_three
  • package_four
  • package_five
  • package_six
  • soil_moisture
  • conductivity
  • salinity
  • f_temp
  • c_temp

JoyStick Class

  • Attributes
    • parent - GUI class
    • roverStatus - class that holds current data of rover
  • Functions
    • OnEvent - any change in joystick controls update roverStatus
      • Change joystick attribute in roverStatus
      • refresh parent, so that parent knows that roverStatus has changed.

Listener Class

  • Attributs
    • parent - GUI class
    • roverStatus - class that holds current data of rover
  • Functions
    • OnMessage - pase message and update roverStatus
      • Change wheel, arm, package, etc attributes in roverStatus
      • refresh parent, so that parent knows that roverStatus has changed.