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updated scout msgs for protocol v2.x

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This commit is contained in:
pinloon.lee
2021-04-01 10:31:53 +08:00
parent 1bdc12a289
commit 5212dc72c2
14 changed files with 135 additions and 46 deletions
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25
scout_msgs/srv/ScoutCheckSystemState.srv Normal file
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bool is_check
---
uint8 vehicle_state
uint8 control_mode
float32 battery_voltage
uint16 error_code
# uint8 VehicleStateNormal = 0
# uint8 VehicleStateEStop = 1
# uint8 VehicleStateException = 2
# uint8 CONTROL_MODE_RC = 0
# uint8 CONTROL_MODE_CAN = 1
# uint8 CONTROL_MODE_UART = 2
# uint16 SYSTEM_ERROR_MOTOR_DRIVER_MASK 0x0100
# uint16 SYSTEM_ERROR_HL_COMM_MASK 0x0200
# uint16 SYSTEM_ERROR_BATTERY_FAULT_MASK ((uint16_t)0x0001)
# uint16 SYSTEM_ERROR_BATTERY_WARNING_MASK ((uint16_t)0x0002)
# uint16 SYSTEM_ERROR_RC_SIGNAL_LOSS_MASK ((uint16_t)0x0004)
# uint16 SYSTEM_ERROR_MOTOR1_COMM_MASK ((uint16_t)0x0008)
# uint16 SYSTEM_ERROR_MOTOR2_COMM_MASK ((uint16_t)0x0010)
# uint16 SYSTEM_ERROR_MOTOR3_COMM_MASK ((uint16_t)0x0020)
# uint16 SYSTEM_ERROR_MOTOR4_COMM_MASK ((uint16_t)0x0040)
# uint16 SYSTEM_ERROR_STEER_ENCODER_MASK ((uint16_t)0x0080)