AGV development
graph LR
Nvidia--ControlMsg-->ARM
ARM==<b>StatusMsg==>Nvidia
typedef struct
{
LifterStatus status_lifter;
WheelStatus status_wheel;
BumperStatus status_bumper;
BatteryStatus status_battery;
} StatusMsg;typedef struct
{
bool is_enabled;
int32_t currentPosition;
bool is_top; // when the lifter is upto the top, it is true, otherwise it's false
bool is_bottom; // when reached bottom, it is true, otherwise it's false
} LifterStatus;typedef struct
{
bool is_enabled; // when the servo has been enabled
bool is_running; // when the motor is running without error, it will be true
bool is_error; // when there are some error in the servo or the motor, it will be true
bool is_stopped; // when speed is 0m/s, it will be true
} WheelStatus;typedef struct
{
bool is_enabled; // when the bumper sensors are enabled
bool is_hitted; // when the agv hitted something, disaster occurs
uint8_t hitted_bumper_index; // 0x00: none, 0x01: front, 0x02: back, 0x04: left, 0x08: right
} BumperStatus;typedef struct
{
bool is_enabled;
bool is_running; // when the battery is on;
uint8_t error_index; // errors about the battery;
uint8_t battery_level; // value from 0 to 100, unit is %;
} BatteryStatus;The final message transportation will be SPI, high-speed-sync-communication.
Message will be combined with a bunch of 8-bit bytes, with CRC-32 at the end of the message.