Runs on the RoboRIO. This is the normal robot code.
No messages read
| Message | Data format | Description |
|---|---|---|
Location |
double x: X position in metersdouble y: Y position in metersdouble angle: Angle in counterclockwise radiansAll measurements are relative to the starting position. |
The predicted location of the robot from the localization system. |
Runs on the Raspberry Pi.
| Message | Data format | Description |
|---|---|---|
Lidar:Start |
No data | Tells the lidar to begin scanning. |
Lidar:Stop |
No data | Tells the lidar to stop scanning. |
| Message | Data format | Description |
|---|---|---|
Lidar:Ready |
No data | Indicates that the lidar is ready to begin scanning. |
Lidar:ScanStart |
No data | Indicates that a new round of scanning has started. |
Lidar:Scan |
int quality: Quality of the measurement from 0 to 15double angle: Angle in counterclockwise radiansdouble distance: Distance from the lidar in millimetersA quality or distance of 0 indicates an invalid scan. |
One measurement from the lidar sensor. |
Runs on all processors that need task management. (Raspberry Pi and Jetson Nano)
The prefix for the Raspberry Pi is RPi and the prefix for the Jetson Nano is Nano.
| Message | Data format | Description |
|---|---|---|
[prefix]:Start |
string task: The task to start |
Starts the given task. |
[prefix]:Stop |
string task: The task to stop |
Stops the given task. |
[prefix]:Delete |
string task: The task to delete |
Deletes all files of the given task. |
[prefix]:Upload |
string task: The task to uploadint payloadLength: The length of the payload in bytesbyte[] payload: The task data payload as a ZIP archive |
Uploads files as a new task. If the specified task already exists, it will be deleted and replaced with the new one. |
[prefix]:GetTasks |
No data | Gets the names of all the tasks on the TaskManager. The TaskManager will respond with a [prefix]:Tasks message. |
[prefix]:IsRunning |
string task: The task to check running status |
Gets whether a task is running. The TaskManager will respond with a [prefix]:Running message. } |
| Message | Data format | Description |
|---|---|---|
[prefix]:StdOut:[task] |
string message: The output line from the task. |
A line from the standard output of a task. |
[prefix]:StdErr:[task] |
string message: The error output line from the task. |
A line from the standard error of a task. |
[prefix]:Tasks |
int count: The number of task names followingstring[] name: The names of each task |
Response for a list of all task names on the TaskManager. |
[prefix]:Running |
string task: The name of the taskboolean running: Whether the task is running |
Response for whether a task is running. |
| Message | Data format | Description |
|---|---|---|
Vision:HubStart |
No data | Tells the hub vision camera to start detecting. |
Vision:BallDetectStart |
No data | Tells the stereo ball detection module to start detecting. |
Vision:ClimberStart |
No data | Tells the climber vision camera to start detecting. |
Vision:HubStop |
No data | Tells the hub vision camera to stop detecting. |
Vision:BallDetectStop |
No data | Tells the stereo ball detection module to stop detecting. |
Vision:ClimberStop |
No data | Tells the climber vision camera to stop detecting. |
| Message | Data format | Description |
|---|---|---|
Vision:Hub_Measurements |
bool obscured: Indicates if an object has been found.double Xangle: X angle in degrees {-fov,fov} to center of target.double distance: Distance to the target, same units as target width. |
The relative position of the robot compared to the vision target. |
Vision:Climber_Angle |
bool obscured: Indicates if an object has been found.double Yangle: Y angle in degrees {-fov,fov} to the bar. |
The relative position of the robot compared to the vision target. |
Vision:Ball_Position |
bool obscured: Indicates if an object has been found.double x: X position of the robot to center of target.double z: Z position of the robot to the center of the target. |
The relative position of a ball to the robot. |