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The interface between MOOS and the low level kayak control running on the Arduino. To switch radios, poke
Switch radios
Poke the variable RADIO_WAIT_TIME once to begin the switch, then POWER with either "bullet" or "freewave". To lock in the change, poke again with the same value within RADIO_WAIT_TIME seconds to confirm the switch.(default 120). When locked in, the driver will post "freewave_locked" or "bullet_locked" to RADIO_POWER.
List of Configuration Settings and Variables
Configuration
- PORT_NAME - serial port name, defaults to /dev/ttyO0 (hardware serial port)
- BAUD_RATE - defaults to 115200
- INVERT_RUDDER - boolean, which way is positive?
- RUDDER_OFFSET - constant offset to rudder angle, which way is positive?
- RADIO_WAIT_TIME - in seconds, time to wait for confirmation when switching radios
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- VOLTAGE
- CPU_BOX_TEMP
- ROBOTEQ_HEATSINK_TEMP
- ROBOTEQ_INTERNAL_TEMP
- ROBOTEQ_BATTERY_CURRENT
- ROBOTEQ_MOTOR_CURRENT
- CPU_BOX_CURRENT
- ARDUINO_THRUST
- ARDUINO_RUDDER
- RADIO_POWER - "freewave_locked" or "bullet_locked"
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pScheduledTransmit
A simple application for collecting acomms data. Can be configured to transmit on a regular schedule using a period and offset, and measured using the system clock. Can be used across several vehicles as long as their clocks are in sync. Posts a long string of random alphanumeric characters that should completely fill any rate transmission.
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