Everything related to communication data structures. More...
Collaboration diagram for Communication:
|
Modules | |
| Communication (Header) | |
| Header for communication, showing the public content. | |
Variables | |
| RobotGoal | robotGoal = {0} |
| RobotState | robotState = {0} |
Detailed Description
Everything related to communication data structures.
Variable Documentation
◆ robotGoal
| RobotGoal robotGoal = {0} |
This is the container for the goal state of the robot. Each control cycle begins by refreshing this data structure (by receiving a new goal from the control systems running on the PC) and then sending commands to actuators stop reduce the error between the current state and the goal state
Definition at line 30 of file Communication.c.
◆ robotState
| RobotState robotState = {0} |
This is the container for the current state of the robot. Each control cycle ends once this data structure is populated with fresh sensor data, at which time this container is serialized and sent back to the PC for feedback control
Definition at line 38 of file Communication.c.
