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.