Source2016

Source Code for NASA RMC 2016

Packet Definitions

Arduino/Teensy

Teensy to Server Communication

Receiving Data

Command	Regular Expression	Value	Purpose
C # +/-	C\d[+-]	+ = ON , - = OFF, # = 1-6	Control Single Conveyor Motors(1-5) and Digger Motor(6)
C +/-	C[+-]	+ = All On , - = All off	Control All Conveyor Motors
L +/-	L[+-]	+ = UP , - = DOWN	Set Dumper Linear Actuator UP or DOWN
P #	P\d{1,2}	# = 0-90	Sets Digger Position with an angle via Linear Actuator
D #	D\d{1,2}	# = 0-50	Control Rack and Pinion Motor
W A/F/R	W[AFR]	A = All;F = Front;R = Rear	Sets Robot Drive Mode
M # +/- #	M\d[+-]\d{1,3}	1st # = 1-2, 2nd # = 0-100	Sets Drive Motor Output
H	H		Halts robot actions the Robot
N	N		Resets the Robot

C

Motors are ordered front to rear. 1 is front most and 5 is rear most.

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Transmitting Data

Command	Regular Expression	Value	Purpose
S [+-] #	S[+-]\d{4,5}	+ = Digger, - = First Conveyor Motor, # = 00.00-50.00	Tells how many amps in motor circuit
E # +/- #	E\d[+-]\d{1,4}	1st # = 1-3, 2nd # = 0-9999	Tells how many counts the encoders have turned
L

S

1. Digger Motor
2. First Conveyor

E

1. Front Left Motor
2. Front Right Motor
3. Rack and Pinion

Server PC

Server to Teensy Communication

• Flip the Transmitting and Receiving Data for the Teensy
• Forward the Client data to Teensy

Server to Client

• Include Server to Teensy Communication & exclude the Transmitting Data section

Receiving Data

• It is the same data as the Teensy

Transmitting Data

Command	Regular Expression	Value	Purpose
V #	V\d{1,2}	# = 0-99	Tells how much amps is on the first Conveyor
I #	I\d{1,2}	# = 0-99	Tells how many amps is being pulled on Digger
D #	D\d{1,3}	# = 0-105	Tells how far the rack and pinion is in cm
L #	L\d{1,4}	# = 0-9999	Tells the speed Left Motor is
R #	R\d{1,4}	# = 0-9999	Tells how far the Right Motor is in cm

Client PC

Client to Server Communication

Transmitting

• The same data receiving as Teensy to Server

Receiving

• Same as data Transmitting as Server to Client