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updated scout msgs for protocol v2.x

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This commit is contained in:
pinloon.lee
2021-04-01 10:31:53 +08:00
parent 1bdc12a289
commit 5212dc72c2
14 changed files with 135 additions and 46 deletions
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10
scout_msgs/srv/ScoutCheckActuatorState.srv Normal file
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uint8 motor_id
---
int16 rpm
float64 current
int32 pulse_count
float32 driver_voltage
float32 driver_temperature
int8 motor_temperature
uint8 driver_state

12
scout_msgs/srv/ScoutCheckLightState.srv Normal file
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@@ -0,0 +1,12 @@
bool is_check
---
bool cmd_ctrl_allowed
uint8 front_mode
uint8 front_custom_value
uint8 rear_mode
uint8 rear_custom_value
# uint8 LIGHT_CONST_OFF = 0
# uint8 LIGHT_CONST_ON = 1
# uint8 LIGHT_BREATH = 2
# uint8 LIGHT_CUSTOM = 3

12
scout_msgs/srv/ScoutCheckRCState.srv Normal file
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@@ -0,0 +1,12 @@
bool is_check
---
uint8 swa
uint8 swb
uint8 swc
uint8 swd
int8 stick_right_v
int8 stick_right_h
int8 stick_left_v
int8 stick_left_h
int8 var_a

25
scout_msgs/srv/ScoutCheckSystemState.srv Normal file
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@@ -0,0 +1,25 @@
bool is_check
---
uint8 vehicle_state
uint8 control_mode
float32 battery_voltage
uint16 error_code
# uint8 VehicleStateNormal = 0
# uint8 VehicleStateEStop = 1
# uint8 VehicleStateException = 2
# uint8 CONTROL_MODE_RC = 0
# uint8 CONTROL_MODE_CAN = 1
# uint8 CONTROL_MODE_UART = 2
# uint16 SYSTEM_ERROR_MOTOR_DRIVER_MASK 0x0100
# uint16 SYSTEM_ERROR_HL_COMM_MASK 0x0200
# uint16 SYSTEM_ERROR_BATTERY_FAULT_MASK ((uint16_t)0x0001)
# uint16 SYSTEM_ERROR_BATTERY_WARNING_MASK ((uint16_t)0x0002)
# uint16 SYSTEM_ERROR_RC_SIGNAL_LOSS_MASK ((uint16_t)0x0004)
# uint16 SYSTEM_ERROR_MOTOR1_COMM_MASK ((uint16_t)0x0008)
# uint16 SYSTEM_ERROR_MOTOR2_COMM_MASK ((uint16_t)0x0010)
# uint16 SYSTEM_ERROR_MOTOR3_COMM_MASK ((uint16_t)0x0020)
# uint16 SYSTEM_ERROR_MOTOR4_COMM_MASK ((uint16_t)0x0040)
# uint16 SYSTEM_ERROR_STEER_ENCODER_MASK ((uint16_t)0x0080)