API for comm.h :
| Commande | ROS | Dir | Serial | Etat |
|---|---|---|---|---|
| Stop | cmd_vel(0) ou autre ? | > | s | |
| Gain PID | pid | > | g {pid_id, kp, ki, kd} | To update |
| Vitesse | cmd_vel(m/s, rad/s) | > | v {vx} {vomega} | |
| Declare actuator | actuator | < | d | To specify |
| Cmd AX12 | actuator | > | a a{ID} {value} | |
| Cmd pompe | cmd_vel(0) ou autre ? | > | a p | |
| Cmd electrov | cmd_vel(0) ou autre ? | > | a e | |
| Cmd | cmd_vel(0) ou autre ? | > | a s | |
| Cmd | cmd_vel(0) ou autre ? | > | a t | |
| Cmd test | cmd_vel(0) ou autre ? | < | r x y theta speed omega | |
| spam value | ??? | < | a {ID} |
Actuator topic : Std_msg header Origin (raspy or stm32) type (write or read or spam) value (0,360,...) Unit (rad, m/s, ...)