Source Code for NASA RMC 2016
Teensy to Server Communication
| Command |
Regular Expression |
Value |
Purpose |
| C # +/- |
C\d[+-] |
+ = ON , - = OFF, # = 1-6 |
Control Single Conveyor Motors(1-5) and Digger Motor(6) |
| C +/- |
C[+-] |
+ = All On , - = All off |
Control All Conveyor Motors |
| L +/- |
L[+-] |
+ = UP , - = DOWN |
Set Dumper Linear Actuator UP or DOWN |
| P # |
P\d{1,2} |
# = 0-90 |
Sets Digger Position with an angle via Linear Actuator |
| D # |
D\d{1,2} |
# = 0-50 |
Control Rack and Pinion Motor |
| W A/F/R |
W[AFR] |
A = All;F = Front;R = Rear |
Sets Robot Drive Mode |
| M # +/- # |
M\d[+-]\d{1,3} |
1st # = 1-2, 2nd # = 0-100 |
Sets Drive Motor Output |
| H |
H |
|
Halts robot actions the Robot |
| N |
N |
|
Resets the Robot |
Motors are ordered front to rear.
1 is front most and 5 is rear most.
| Command |
Regular Expression |
Value |
Purpose |
| S [+-] # |
S[+-]\d{4,5} |
+ = Digger, - = First Conveyor Motor, # = 00.00-50.00 |
Tells how many amps in motor circuit |
| E # +/- # |
E\d[+-]\d{1,4} |
1st # = 1-3, 2nd # = 0-9999 |
Tells how many counts the encoders have turned |
| L |
|
|
|
- Digger Motor
- First Conveyor
- Front Left Motor
- Front Right Motor
- Rack and Pinion
Server to Teensy Communication
- Flip the Transmitting and Receiving Data for the Teensy
- Forward the Client data to Teensy
- Include Server to Teensy Communication & exclude the Transmitting Data section
- It is the same data as the Teensy
| Command |
Regular Expression |
Value |
Purpose |
| V # |
V\d{1,2} |
# = 0-99 |
Tells how much amps is on the first Conveyor |
| I # |
I\d{1,2} |
# = 0-99 |
Tells how many amps is being pulled on Digger |
| D # |
D\d{1,3} |
# = 0-105 |
Tells how far the rack and pinion is in cm |
| L # |
L\d{1,4} |
# = 0-9999 |
Tells the speed Left Motor is |
| R # |
R\d{1,4} |
# = 0-9999 |
Tells how far the Right Motor is in cm |
Client to Server Communication
- The same data receiving as Teensy to Server
- Same as data Transmitting as Server to Client