REMOTECONTROL.md

Radon Ulzer - Remote Control

• General
• SerialMuxProt Channels
  • Rx channel "REMOTE_CMD"
  • Tx channel "REMOTE_RSP"
  • Rx channel "MOT_SPEEDS"
  • Tx channel "LINE_SENS"
• SW Architecture
  • Logical View
    • Application
      • Startup
      • LineSensorsCalibration
      • RemoteCtrl
      • Error
  • Physical View
  • Process View
• Abbreviations
• Issues, Ideas And Bugs
• License
• Contribution

General

The robot can be controlled remotely by using the SerialMuxProt protocol.

On target the physical communication uses the serial.

On simulation the physical communication uses a socket connection.

SerialMuxProt Channels

Rx channel "REMOTE_CMD"

This channel is used to receive commands, which will be executed by the application in RemoteCtrl state. A command related response will be sent via the "REMOTE_RSP" channel.

Possible commands:

• NO_ACTION (0) - Nothing will happend and no response will be sent.
• START_LINE_SENSOR_CALIB (1) - Start line sensor calibration.
• START_MOTOR_SPEED_CALIB (2) - Start motor speed calibration.
• REINIT_BOARD (3) - Re-initialized the board. Required for webots simulation.

Tx channel "REMOTE_RSP"

This channel is used to send command related responses. A response will be sent only once and not periodically.

Possible responses:

• OK (0) - Command successful executed.
• PENDING (1) - Command execution is pending.
• ERROR (2) - Command execution failed.

Rx channel "MOT_SPEEDS"

This channel is used to receive linear motor speed information for the left and right motor in [mm/s].

• The dataypes int16_t is used.
• Order:
  • The left motor speed.
  • The right motor speed.
• Endianess: Big endian

Tx channel "LINE_SENS"

This channel is used to send line sensor informations in digits.

• The dataypes uint16_t is used.
• Order:
  • From most left to right line sensor.
• Endianess: Big endian

SW Architecture

The following part contains the specific details of the RemoteControl application.

Logical View

Application

Startup

LineSensorsCalibration

RemoteCtrl

Error

Physical View

Process View

Abbreviations

Abbreviation	Description
HAL	Hardware Abstraction Layer

Issues, Ideas And Bugs

If you have further ideas or you found some bugs, great! Create a issue or if you are able and willing to fix it by yourself, clone the repository and create a pull request.

License

The whole source code is published under the MIT license. Consider the different licenses of the used third party libraries too!

Contribution

Unless you explicitly state otherwise, any contribution intentionally submitted for inclusion in the work by you, shall be licensed as above, without any additional terms or conditions.