##Installation
- $ sudo chmod 777 install
- $ ./install
##Upload to board
- $ sudo chmod 777 upload
- $ ./upload <serial-port> [Example ./upload /dev/ttyACM0]
#Full packet (send) :
| Variable | Range |
|---|---|
| linear_speed | (0->100) |
| angular_speed | (-100->100) |
| direction | (0->360) |
| kick_type | Binary |
| kick_strength | (0->25) |
| enable_drib1 | Binary |
| vel_drib1 | (0->255) |
| enable_drib2 | Binary |
| vel_drib2 | (0->255) |
| resetenc1 | Binary |
| resetenc2 | Binary |
| resetenc3 | Binary |
String : linear_speed,angular_speed,direction,kick_type,kick_strength,enable_drib1,vel_drib1,enable_drib2,vel_drib2,resetenc1,resetenc2,resetenc3
#Full packet (receive) :
| Variable | Range |
|---|---|
| imu_angle | (0->360) |
| free_wheel | Binary |
| ball_sensor | Binary |
| Enc1 | (32,768->32,767) |
| Enc2 | (32,768->32,767) |
| Enc3 | (32,768->32,767) |
| PcBattery | (0.0->13.0) |
| CamBattery | (0.0->7.0) |
| HwBattery | (0.0->26.0) |
String : imu_angle,free_wheel,ball_sensor,Enc1,Enc2,Enc3,PcBattery,CamBattery,HwBattery
#Commands
- Full packet string (send)
- S<VALUE> - Move servo to defined value
- p - OMNI 3MD P Component -= 50
- P - OMNI 3MD P Component += 50
- i - OMNI 3MD I Component -= 50
- I - OMNI 3MD I Component += 50
- d - OMNI 3MD D Component -= 50
- D - OMNI 3MD D Component += 50
- b - OMNI 3MD Ramp B Component -= 50
- B - OMNI 3MD Ramp B Component += 50
- n - OMNI 3MD Ramp N Component -= 50
- N - OMNI 3MD Ramp N Component += 50
- m - OMNI 3MD Ramp M Component -= 50
- M - OMNI 3MD Ramp M Component += 50
- # - Redefine IMU '0' level
- x - Reset encoders' count
- K<VALUE> - Kick ball with defined strength (value)