The robot sends sensor data (Odometry data and IMU data) via SerialMuxProt.
On target the physical communication uses the serial.
On simulation the physical communication uses a socket connection.
All channels are defined in the file SerialMuxChannels.h
This channel is used to send raw sensor data used for Sensor Fusion on the ZumoComSystem.
- The datatypes can be found in SerialMuxChannel.h.
- Order:
- Position in X calculated by Odometry (in mm)
- Position in Y calculated by Odometry (in mm)
- Orientation calculated by Odometry (in mrad)
- Acceleration in X (raw sensor value in digits)
- Turnrate around Z (raw sensor value in digits)
- Time passed since the last sensor value (in ms)
- Endianess: Big endian
The following part contains the specific details of the SensorFusion application.
The States are similar to the Linefollower Application
| Abbreviation | Description |
|---|---|
| HAL | Hardware Abstraction Layer |
| IMU | Inertial Measurement Unit |
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.
The whole source code is published under the MIT license. Consider the different licenses of the used third party libraries too!
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.