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40 changes: 20 additions & 20 deletions Arduino/README.md
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Expand Up @@ -7,26 +7,26 @@ This folder is not a part of the ROS package structure. It contains the code tha
This section describes the internals of communication between the Raspberry Pi and the Arduino. You don't need
to understand these if you just want to get your rover running.

### Initilization Packet
There is an initilization exchange between the Raspberry Pi and Arduino which is used to let each device know the other
### Initialization Packet
There is an initialization exchange between the Raspberry Pi and Arduino which is used to let each device know the other
one is ready to send/receive data. Until each device has correctly agreed upon them they will both be in an IDLE state.

The Raspberry Pi will continually send its initilization command at a 2Hz frequency until it recieves the Arduino's
initilization command. The Arduino sits and listens constantly until it hears this command, and then transistions into
a RUNNING state, and sends its' initilization command. While in IDLE the RPi listens for this command, and will also
transistion to RUNNING upon receiving it.
The Raspberry Pi will continually send its initialization command at a 2Hz frequency until it receives the Arduino's
initialization command. The Arduino sits and listens constantly until it hears this command, and then transitions into
a RUNNING state, and sends its' initialization command. While in IDLE the RPi listens for this command, and will also
transition to RUNNING upon receiving it.

| `Name` | `Value` |
|---------------|------------------|
| RPi Init | 0xA |
| Arduino Init | 0xCD |

Once both of them have agreed upon recieving each other's initilization command they will both be in a RUNNING state
Once both of them have agreed upon receiving each other's initialization command they will both be in a RUNNING state
sending the normal telemetry packet. If either system hits the timeout constant on listening for the telemetry packet
they will be transistioned back to the IDLE state, in which initilization must occur again.
they will be transitioned back to the IDLE state, in which initialization must occur again.

### Preamble
The preamble (or syncword) is used to do bit-level syncronization of the data frames between the two system.
The preamble (or syncword) is used to do bit-level synchronization of the data frames between the two systems.
It is the first 2 bytes of every single message.

| | | | | |
Expand All @@ -41,7 +41,7 @@ re-calculated on both sides of the data stream. It is calculated as the uint16_t
or the SUM of all bytes in the data packet except for the preamble (and itself of course)

### Data Frames
The data frame is a total of 16 bytes sent, and will have the following structure
The data frame is a total of 16 bytes sent and will have the following structure.

| `PREAMBLE` | `CONN` | `BATTERY` | `ERROR` | `TEMP` | `DRIVE_CURRENT` | `STEERING_CURRENT` | `FACE` | `CHECKSUM` |
|------------|--------|-----------|----------|-----------|-----------------|--------------------|---------|------------|
Expand All @@ -55,10 +55,10 @@ Connected Status of the remote controller to the Robot. 1 Byte length
|---------|---------------------------------------------------------|
| 0x01 | Remote connected |
| 0x00 | Remote disconnected |
| 0xFF | Overloaded to transistion the arduino back to IDLE state|
| 0xFF | Overloaded to transition the arduino back to IDLE state|

##### BATTERY
Battery value read in by the motor controllers. 1 Byte length. The value ranges from 0x00 to 0x1F, based on battery %
Battery value is read by the motor controllers. 1 Byte length. The value ranges from 0x00 to 0x1F, based on battery %

| `Value` | `Battery % ` |
|---------|--------------|
Expand All @@ -71,7 +71,7 @@ Battery value read in by the motor controllers. 1 Byte length. The value ranges

#### Status
Error status of each individual motor controller. 1 Byte length. Each motor controller error status is x << i bits,
where x indicates an error, is 1 if error and 0 otherwise
where x indicates an error, is 1 if error, and 0 otherwise

| Motor Controler Address | Binary (if error) |
|-------------------------|-------------------|
Expand All @@ -87,7 +87,7 @@ had errors the error message would be `0000 1010`
#### TEMP
Temperature reading coming off of each RoboClaw. 3 Bytes length, where each nibble corresponds to a motor controller,
with possible nibble values from 0x0 to 0x4, which ranges from temperatures 28-40 C. The TEMP values are binned into
every 20% of the total range, which are also shown below
every 20% of the total range, which is also shown below

| `NIBBLE NUM`| 0 | 1 | 2 | 3 | 4 | 5 |
|-------------|-------|-------|-------|-------|-------|-------|
Expand All @@ -103,9 +103,9 @@ every 20% of the total range, which are also shown below


#### DRIVE_CURRENT
Driving motors current reading coming off of each RoboClaw. 3 Bytes length, where each nibble corresponds to a motor
Driving motors current reading coming off of each RoboClaw. 3 Bytes in length, where each nibble corresponds to a motor
controller, with possible nibble values from 0x0 to 0x4, which ranges from current 0-1 amps.
The current values are binned into every 20% of the total range, which are also shown below
The current values are binned into every 20% of the total range, which is also shown below.

| `NIBBLE NUM`| 0 | 1 | 2 | 3 | 4 | 5 |
|-------------|-------|-------|-------|-------|-------|-------|
Expand Down Expand Up @@ -136,7 +136,7 @@ controller, with possible nibble values from 0x0 to 0x4, which ranges from curre
|0.8 < A | 0x4 |

#### FACE
Command for the face. __TO DO: ADD THIS FUNCTIONALITY IN STILL, FOR NOW FACE IS STATIC__
The command for the face. __TO DO: ADD THIS FUNCTIONALITY IN STILL, FOR NOW, FACE IS STATIC__


### Example
Expand All @@ -153,12 +153,12 @@ The following data is in the format which is passed from the ROS topic `/status`
| STEER_CURRENT| [9,5,9,6] |
| FACE | 1 |

First each of these values must be converted into its' respective values, and then inserted into the correct spot into
First, each of these values must be converted into its' respective values, and then inserted into the correct spot into
the data frame.

The Battery is full, and will be 0x1F
The Battery is full and will be 0x1F

Motor controllers 129, 130, 131 have errors, which means that the STATUS binary code generated should be: `0000 1110`
Motor controllers 129, 130, and 131 have errors, which means that the STATUS binary code generated should be: `0000 1110`

Using the above information in the TEMP description we can see the TEMP should bytes should be 0x01, 0x12, 0x10

Expand Down
2 changes: 1 addition & 1 deletion Emulation/README.md
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Expand Up @@ -2,7 +2,7 @@

This project provides a Docker-based emulation environment for a rover control system using ROS 2 Foxy.

We currently have command and control emulation
We currently have command and control emulation.

Possible things we can add:

Expand Down
6 changes: 3 additions & 3 deletions README.md
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Expand Up @@ -9,17 +9,17 @@ The rover runs on ROS2 (tested on Foxy), mostly using Python 3.

## Internals & structure

Please refer to README files associated with each folder for insight in how components work and what they do.
Please refer to the README files associated with each folder for insight into how components work and what they do.
This is also the place to look when you have modifications on your rover that require the code or parameters to be
changed.

* The [ROS overview](ROS/README.md) gives an overview of the setup related to ROS and links to specific implementations
such as how the drive and corner commands are being calculated
* The [Arduino readme](Arduino/README.md) details the code that runs on the Arduino, used to control the LED screen.
* The [Arduino readme](Arduino/README.md) details the code that runs on the Arduino, which is used to control the LED screen.

## Setup

The setup directory contains tutorial files for getting everything setup and configured for running the rover code. You should proceed through them in the following order:
The setup directory contains tutorial files for getting everything set up and configured for running the rover code. You should proceed through them in the following order:
- [Arduino setup](setup/arduino.md)
- [Raspberry Pi setup with Ubuntu 20.04](setup/rpi.md)
- [Rover code bringup](setup/rover_bringup.md)
7 changes: 3 additions & 4 deletions ROS/README.md
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Expand Up @@ -10,14 +10,14 @@ structure, which are covered below
* `osr_bringup`: configuration and launch files for starting the rover
* `led_screen`: code to communicate to the Arduino Uno to run the LED screen

Please refer to the docstrings wihin each file to gain understanding of the internals as that is the most
Please refer to the docstrings within each file to gain an understanding of the internals as that is the most
up-to-date and complete source of information.

### osr

* `roboclaw.py`: copy of the roboclaw python library, API to the roboclaw controllers. ROS agnostic
* `roboclaw_wrapper.py`: ROS node that wraps around and abstracts the roboclaw library. Takes in commands and reports
state of each motor
the state of each motor
* `rover.py`: ROS node that controls the rover, taking in high-level commands and calculating motor commands which are
sent to `roboclaw_wrapper.py`

Expand All @@ -30,8 +30,7 @@ and units.

### osr_bringup

The osr_bringup package contains the launch file necessary to start all the ROS nodes,
as well as the operating parameters for the robot.
The osr_bringup package contains the launch file necessary to start all the ROS nodes, as well as the robot's operating parameters.

### led_screen

Expand Down