diff --git a/Writerside/gu.tree b/Writerside/gu.tree index 59777c6..cb5625d 100644 --- a/Writerside/gu.tree +++ b/Writerside/gu.tree @@ -42,14 +42,25 @@ + + - + + + + + + + + + + @@ -70,6 +81,16 @@ + + + + + + + + + + @@ -77,13 +98,34 @@ + + + + + + + + + + + - + + + + + + + + + + + diff --git a/Writerside/redirection-rules.xml b/Writerside/redirection-rules.xml index df8853f..7d4c380 100644 --- a/Writerside/redirection-rules.xml +++ b/Writerside/redirection-rules.xml @@ -48,4 +48,29 @@ Created after removal of "Robot Position" from Documentation Robot Modelec 2024 Robot-Position.html + + Created after removal of "PID" from Documentation Robot Modelec 2024 + PID.html + + + Created after removal of "Odometry" from Documentation Robot Modelec 2024 + Odometry.html + + + Created after removal of "OdometryData" from Documentation Robot Modelec 2024 + OdometryData-Message-Interface.html + + + Created after removal of "Odometry-Topic-Interface" from Documentation Robot Modelec 2024 + + Odometry-Topic-Interface.html + + + Created after removal of "Odometry Data" from Documentation Robot Modelec 2024 + Odometry-Data-Topic.html + + + Created after removal of "Odometry-Topic" from Documentation Robot Modelec 2024 + Odometry-Topic.html + \ No newline at end of file diff --git a/Writerside/topics/Odoemtry-AddWaypoint-Topic.md b/Writerside/topics/Odoemtry-AddWaypoint-Topic.md new file mode 100644 index 0000000..f8e77e1 --- /dev/null +++ b/Writerside/topics/Odoemtry-AddWaypoint-Topic.md @@ -0,0 +1,12 @@ +# AddWaypoint + +## Nom du topic : **odometry/add_waypoint** +[Interface](OdometryAddWaypoint-Topic-Interface.md) + +## Objectif +Ajouter un waypoint à la liste des waypoints de l'odométrie. + +### Publisher +- [](PCB-Odo-Interface-Node.md) + +### Subscriber diff --git a/Writerside/topics/Odoemtry-GetPID-Topic.md b/Writerside/topics/Odoemtry-GetPID-Topic.md new file mode 100644 index 0000000..8e12d6a --- /dev/null +++ b/Writerside/topics/Odoemtry-GetPID-Topic.md @@ -0,0 +1,12 @@ +# GetPID + +## Nom du topic : **odometry/get_pid** +[Interface](OdometryPid-Topic-Interface.md) + +## Objectif +Récupérer les valeurs de PID de l'odométrie. + +### Publisher +- [](PCB-Odo-Interface-Node.md) + +### Subscriber diff --git a/Writerside/topics/Odoemtry-GetPosition-Topic.md b/Writerside/topics/Odoemtry-GetPosition-Topic.md new file mode 100644 index 0000000..a8857cd --- /dev/null +++ b/Writerside/topics/Odoemtry-GetPosition-Topic.md @@ -0,0 +1,12 @@ +# GetPosition + +## Nom du topic : **odometry/get_position** +[Interface](OdometryPos-Topic-Interface.md) + +## Objectif +Envoie la position du robot à partir de l'odométrie. + +### Publisher +- [](PCB-Odo-Interface-Node.md) + +### Subscriber diff --git a/Writerside/topics/Odoemtry-SetPID-Topic.md b/Writerside/topics/Odoemtry-SetPID-Topic.md new file mode 100644 index 0000000..bf86137 --- /dev/null +++ b/Writerside/topics/Odoemtry-SetPID-Topic.md @@ -0,0 +1,12 @@ +# SetPID + +## Nom du topic : **odometry/set_pid** +[Interface](OdometryPid-Topic-Interface.md) + +## Objectif +Configurer le PID de l'odométrie. + +### Publisher +- [](PCB-Odo-Interface-Node.md) + +### Subscriber diff --git a/Writerside/topics/Odoemtry-SetPosition-Topic.md b/Writerside/topics/Odoemtry-SetPosition-Topic.md new file mode 100644 index 0000000..6e0e70d --- /dev/null +++ b/Writerside/topics/Odoemtry-SetPosition-Topic.md @@ -0,0 +1,12 @@ +# SetPosition + +## Nom du topic : **odometry/set_position** +[Interface](OdometryPos-Topic-Interface.md) + +## Objectif +Envoyé une position à l'odométrie. + +### Publisher +- [](PCB-Odo-Interface-Node.md) + +### Subscriber diff --git a/Writerside/topics/Odoemtry-Speed-Topic.md b/Writerside/topics/Odoemtry-Speed-Topic.md new file mode 100644 index 0000000..8cef53d --- /dev/null +++ b/Writerside/topics/Odoemtry-Speed-Topic.md @@ -0,0 +1,12 @@ +# Speed + +## Nom du topic : **odometry/speed** +[Interface](OdometrySpeed-Topic-Interface.md) + +## Objectif +Récuperer la vitesse du robot à partir de l'odométrie. + +### Publisher +- [](PCB-Odo-Interface-Node.md) + +### Subscriber diff --git a/Writerside/topics/Odoemtry-ToF-Topic.md b/Writerside/topics/Odoemtry-ToF-Topic.md new file mode 100644 index 0000000..51e854d --- /dev/null +++ b/Writerside/topics/Odoemtry-ToF-Topic.md @@ -0,0 +1,12 @@ +# ToF + +## Nom du topic : **odometry/tof** +[Interface](OdometryToF-Topic-Interface.md) + +## Objectif +Récupérer la distance entre le robot et un obstacle à l'aide d'un capteur ToF. + +### Publisher +- [](PCB-Odo-Interface-Node.md) + +### Subscriber diff --git a/Writerside/topics/Odoemtry-WaypoointReach-Topic.md b/Writerside/topics/Odoemtry-WaypoointReach-Topic.md new file mode 100644 index 0000000..35dd85d --- /dev/null +++ b/Writerside/topics/Odoemtry-WaypoointReach-Topic.md @@ -0,0 +1,11 @@ +# WaypoointReach + +## Nom du topic : **odometry/waypoint_reach** +[Interface](OdometryWaypointReach-Topic-Interface.md) + +## Objectif + +### Publisher +- [](PCB-Odo-Interface-Node.md) + +### Subscriber diff --git a/Writerside/topics/Odometry-AddWaypoint-Service.md b/Writerside/topics/Odometry-AddWaypoint-Service.md new file mode 100644 index 0000000..faaf79c --- /dev/null +++ b/Writerside/topics/Odometry-AddWaypoint-Service.md @@ -0,0 +1,12 @@ +# AddWaypoint + +## Nom du service : **odometry/add_waypoint** +[Interface](OdometryAddWaypoint-Service-Interface.md) + +## Objectif +Ajouter un waypoint à la liste des waypoints de l'odométrie. + +### Service +- [](PCB-Odo-Interface-Node.md) + +### Client diff --git a/Writerside/topics/Odometry-Data-Topic.md b/Writerside/topics/Odometry-Data-Topic.md deleted file mode 100644 index 9888c6c..0000000 --- a/Writerside/topics/Odometry-Data-Topic.md +++ /dev/null @@ -1,13 +0,0 @@ -# Odometry Data - -### Nom du topic : **odometry_data** -[Interface](OdometryData-Message-Interface.md) - -### Objectif -Transmettre la position du robot renvoyé par l'odométrie. - -### Publisher -- [](Odometry-Logic-Processor-Node.md) - -### Subscriber -- diff --git a/Writerside/topics/Odometry-GetPID-Service.md b/Writerside/topics/Odometry-GetPID-Service.md new file mode 100644 index 0000000..0987aae --- /dev/null +++ b/Writerside/topics/Odometry-GetPID-Service.md @@ -0,0 +1,12 @@ +# GetPID + +## Nom du service : **odometry/get_pid** +[Interface](OdometryGetPid-Service-Interface.md) + +## Objectif +Récupérer les valeurs de PID de l'odométrie. + +### Service +- [](PCB-Odo-Interface-Node.md) + +### Client diff --git a/Writerside/topics/Odometry-GetPosition-Service.md b/Writerside/topics/Odometry-GetPosition-Service.md new file mode 100644 index 0000000..d20f1dc --- /dev/null +++ b/Writerside/topics/Odometry-GetPosition-Service.md @@ -0,0 +1,12 @@ +# GetPosition + +## Nom du service : **odometry/get_position** +[Interface](OdometryPosition-Service-Interface.md) + +## Objectif +Récupérer la position du robot à partir de l'odométrie. + +### Service +- [](PCB-Odo-Interface-Node.md) + +### Client diff --git a/Writerside/topics/Odometry-PID-Service-Interface.md b/Writerside/topics/Odometry-PID-Service-Interface.md new file mode 100644 index 0000000..b481636 --- /dev/null +++ b/Writerside/topics/Odometry-PID-Service-Interface.md @@ -0,0 +1,2 @@ +# PID + diff --git a/Writerside/topics/Odometry-Service-Interface.md b/Writerside/topics/Odometry-Service-Interface.md new file mode 100644 index 0000000..14a255c --- /dev/null +++ b/Writerside/topics/Odometry-Service-Interface.md @@ -0,0 +1,3 @@ +# Odometry + +Start typing here... \ No newline at end of file diff --git a/Writerside/topics/Odometry-Service.md b/Writerside/topics/Odometry-Service.md new file mode 100644 index 0000000..14a255c --- /dev/null +++ b/Writerside/topics/Odometry-Service.md @@ -0,0 +1,3 @@ +# Odometry + +Start typing here... \ No newline at end of file diff --git a/Writerside/topics/Odometry-SetPID-Service.md b/Writerside/topics/Odometry-SetPID-Service.md new file mode 100644 index 0000000..c8af235 --- /dev/null +++ b/Writerside/topics/Odometry-SetPID-Service.md @@ -0,0 +1,12 @@ +# SetPID + +## Nom du service : **odometry/set_pid** +[Interface](OdometrySetPid-Service-Interface.md) + +## Objectif +Configurer le PID de l'odométrie. + +### Service +- [](PCB-Odo-Interface-Node.md) + +### Client diff --git a/Writerside/topics/Odometry-Speed-Service.md b/Writerside/topics/Odometry-Speed-Service.md new file mode 100644 index 0000000..e454552 --- /dev/null +++ b/Writerside/topics/Odometry-Speed-Service.md @@ -0,0 +1,12 @@ +# Speed + +## Nom du service : **odometry/speed** +[Interface](OdometrySpeed-Service-Interface.md) + +## Objectif +Récuperer la vitesse du robot à partir de l'odométrie. + +### Service +- [](PCB-Odo-Interface-Node.md) + +### Client diff --git a/Writerside/topics/Odometry-Start-Service.md b/Writerside/topics/Odometry-Start-Service.md new file mode 100644 index 0000000..635959c --- /dev/null +++ b/Writerside/topics/Odometry-Start-Service.md @@ -0,0 +1,12 @@ +# Start + +## Nom du service : **odometry/start** +[Interface](OdometryStart-Service-Interface.md) + +## Objectif +Démarrer ou éteindre l'odométrie. + +### Service +- [](PCB-Odo-Interface-Node.md) + +### Client diff --git a/Writerside/topics/Odometry-ToF-Service.md b/Writerside/topics/Odometry-ToF-Service.md new file mode 100644 index 0000000..87876dd --- /dev/null +++ b/Writerside/topics/Odometry-ToF-Service.md @@ -0,0 +1,12 @@ +# ToF + +## Nom du service : **odometry/tof** +[Interface](OdometryToF-Service-Interface.md) + +## Objectif +Récupérer la distance entre le robot et un obstacle à l'aide d'un capteur ToF. + +### Service +- [](PCB-Odo-Interface-Node.md) + +### Client diff --git a/Writerside/topics/Odometry-Topic-Interface.md b/Writerside/topics/Odometry-Topic-Interface.md new file mode 100644 index 0000000..14a255c --- /dev/null +++ b/Writerside/topics/Odometry-Topic-Interface.md @@ -0,0 +1,3 @@ +# Odometry + +Start typing here... \ No newline at end of file diff --git a/Writerside/topics/Odometry-Topic.md b/Writerside/topics/Odometry-Topic.md new file mode 100644 index 0000000..14a255c --- /dev/null +++ b/Writerside/topics/Odometry-Topic.md @@ -0,0 +1,3 @@ +# Odometry + +Start typing here... \ No newline at end of file diff --git a/Writerside/topics/OdometryAddWaypoint-Service-Interface.md b/Writerside/topics/OdometryAddWaypoint-Service-Interface.md new file mode 100644 index 0000000..22c8f2a --- /dev/null +++ b/Writerside/topics/OdometryAddWaypoint-Service-Interface.md @@ -0,0 +1,35 @@ +# OdometryAddWaypoint +`` + +## Objectif +Ajouter un waypoint à la liste des waypoints de l'odométrie. + +## Interface +```cpp +int8 id +bool is_end +int64 x +int64 y +int64 theta +--- +bool success +``` + +## Params + +| Type | Name | Description | +|-------|--------|-------------------| +| uint8 | id | id du waypoint | +| bool | is_end | waypoint de fin | +| int64 | x | coordonnée x | +| int64 | y | coordonnée y | +| int64 | theta | angle du waypoint | + +## Retour + +| Type | Name | Description | +|------|---------|------------------------| +| bool | success | requête réussie ou non | + +## Utilisé par +- \ No newline at end of file diff --git a/Writerside/topics/OdometryAddWaypoint-Topic-Interface.md b/Writerside/topics/OdometryAddWaypoint-Topic-Interface.md new file mode 100644 index 0000000..a7cdcff --- /dev/null +++ b/Writerside/topics/OdometryAddWaypoint-Topic-Interface.md @@ -0,0 +1,28 @@ +# OdometryAddWaypoint +`` + +## Objectif +Ajouter un waypoint à la liste des waypoints de l'odométrie. + +## Interface +```cpp +int8 id +bool is_end +int64 x +int64 y +int64 theta +``` + +## Params + +| Type | Name | Description | +|-------|--------|-------------------| +| uint8 | id | id du waypoint | +| bool | is_end | waypoint de fin | +| int64 | x | coordonnée x | +| int64 | y | coordonnée y | +| int64 | theta | angle du waypoint | + + +## Utilisé par +- \ No newline at end of file diff --git a/Writerside/topics/OdometryData-Message-Interface.md b/Writerside/topics/OdometryData-Message-Interface.md deleted file mode 100644 index 94c9c2c..0000000 --- a/Writerside/topics/OdometryData-Message-Interface.md +++ /dev/null @@ -1,22 +0,0 @@ -# OdometryData -`` - -## Objectif -Transmission des données d'odométrie depuis le controller vers la rasp - -## Interface -```cpp -int64 x -int64 y -int64 theta -``` - -## Params -| Type | Name | Description | -|-------|-------|---------------| -| int64 | x | position en x | -| int64 | y | position en y | -| int64 | theta | angle selon z | - -## Utilisé par -- [](Odometry-Logic-Processor-Node.md) \ No newline at end of file diff --git a/Writerside/topics/OdometryGetPid-Service-Interface.md b/Writerside/topics/OdometryGetPid-Service-Interface.md new file mode 100644 index 0000000..caf91a8 --- /dev/null +++ b/Writerside/topics/OdometryGetPid-Service-Interface.md @@ -0,0 +1,30 @@ +# OdometryGetPid +`` + +## Objectif +Récupérer les paramètres PID de l'odométrie. + +## Interface +```cpp +--- +float32 p +float32 i +float32 d +``` + +## Params + +| Type | Name | Description | +|------|------|-------------| +| | | | + +## Retour + +| Type | Name | Description | +|---------|------|-----------------------| +| float32 | p | valeur du paramètre P | +| float32 | i | valeur du paramètre I | +| float32 | d | valeur du paramètre D | + +## Utilisé par +- \ No newline at end of file diff --git a/Writerside/topics/OdometryPid-Topic-Interface.md b/Writerside/topics/OdometryPid-Topic-Interface.md new file mode 100644 index 0000000..52760a6 --- /dev/null +++ b/Writerside/topics/OdometryPid-Topic-Interface.md @@ -0,0 +1,23 @@ +# OdometryPid +`` + +## Objectif +Configurer le PID de l'odométrie. + +## Interface +```cpp +float32 p +float32 i +float32 d +``` + +## Params + +| Type | Name | Description | +|---------|------|--------------------| +| float32 | p | valeur paramètre P | +| float32 | i | valeur paramètre I | +| float32 | d | valeur paramètre D | + +## Utilisé par +- \ No newline at end of file diff --git a/Writerside/topics/OdometryPos-Topic-Interface.md b/Writerside/topics/OdometryPos-Topic-Interface.md new file mode 100644 index 0000000..90d5f3c --- /dev/null +++ b/Writerside/topics/OdometryPos-Topic-Interface.md @@ -0,0 +1,23 @@ +# OdometryPos +`` + +## Objectif +Récuperer la position du robot à partir de l'odométrie. + +## Interface +```cpp +int64 x +int64 y +int64 theta +``` + +## Params + +| Type | Name | Description | +|-------|-------|-----------------------------| +| int64 | x | position selon l'axe x (mm) | +| int64 | y | position selon l'axe x (mm) | +| int64 | theta | angle selon l'axe x (rad) | + +## Utilisé par +- \ No newline at end of file diff --git a/Writerside/topics/OdometryPosition-Service-Interface.md b/Writerside/topics/OdometryPosition-Service-Interface.md new file mode 100644 index 0000000..bff9457 --- /dev/null +++ b/Writerside/topics/OdometryPosition-Service-Interface.md @@ -0,0 +1,31 @@ +# OdometryPosition +`` + +## Objectif +Récuperer la position du robot à partir de l'odométrie. + +## Interface +```cpp +--- +int64 x +int64 y +int64 theta + +``` + +## Params + +| Type | Name | Description | +|------|------|-------------| +| | | | + +## Retour + +| Type | Name | Description | +|-------|-------|-----------------------------| +| int64 | x | position selon l'axe x (mm) | +| int64 | y | position selon l'axe x (mm) | +| int64 | theta | angle selon l'axe x (rad) | + +## Utilisé par +- \ No newline at end of file diff --git a/Writerside/topics/OdometrySetPid-Service-Interface.md b/Writerside/topics/OdometrySetPid-Service-Interface.md new file mode 100644 index 0000000..92ef179 --- /dev/null +++ b/Writerside/topics/OdometrySetPid-Service-Interface.md @@ -0,0 +1,31 @@ +# OdometrySetPid +`` + +## Objectif +Configurer le PID de l'odométrie. + +## Interface +```cpp +float32 p +float32 i +float32 d +--- +bool success +``` + +## Params + +| Type | Name | Description | +|---------|------|-----------------------| +| float32 | p | valeur du paramètre P | +| float32 | i | valeur du paramètre I | +| float32 | d | valeur du paramètre D | + +## Retour + +| Type | Name | Description | +|------|---------|------------------------| +| bool | success | requête réussie ou non | + +## Utilisé par +- \ No newline at end of file diff --git a/Writerside/topics/OdometrySpeed-Service-Interface.md b/Writerside/topics/OdometrySpeed-Service-Interface.md new file mode 100644 index 0000000..652ff1e --- /dev/null +++ b/Writerside/topics/OdometrySpeed-Service-Interface.md @@ -0,0 +1,30 @@ +# OdometrySpeed +`` + +## Objectif +Récuperer la vitesse du robot à partir de l'odométrie. + +## Interface +```cpp +--- +int64 x +int64 y +int64 theta +``` + +## Params + +| Type | Name | Description | +|------|------|-------------| +| | | | + +## Retour + +| Type | Name | Description | +|-------|-------|---------------------------------------------| +| int64 | x | vitesse selon l'axe x (mm^2) | +| int64 | y | vitesse selon l'axe x (mm^2) | +| int64 | theta | vitesse angulaire autour de l'axe z (rad^2) | + +## Utilisé par +- \ No newline at end of file diff --git a/Writerside/topics/OdometrySpeed-Topic-Interface.md b/Writerside/topics/OdometrySpeed-Topic-Interface.md new file mode 100644 index 0000000..eecf835 --- /dev/null +++ b/Writerside/topics/OdometrySpeed-Topic-Interface.md @@ -0,0 +1,23 @@ +# OdometrySpeed +`` + +## Objectif +Récuperer la vitesse du robot à partir de l'odométrie. + +## Interface +```cpp +int64 x +int64 y +int64 theta +``` + +## Params + +| Type | Name | Description | +|-------|-------|---------------------------------------------| +| int64 | x | vitesse selon l'axe x (mm^2) | +| int64 | y | vitesse selon l'axe x (mm^2) | +| int64 | theta | vitesse angulaire autour de l'axe z (rad^2) | + +## Utilisé par +- \ No newline at end of file diff --git a/Writerside/topics/OdometryStart-Service-Interface.md b/Writerside/topics/OdometryStart-Service-Interface.md new file mode 100644 index 0000000..922d846 --- /dev/null +++ b/Writerside/topics/OdometryStart-Service-Interface.md @@ -0,0 +1,27 @@ +# OdometryStart +`` + +## Objectif +Lancer l'odométrie. + +## Interface +```cpp +bool start +--- +bool success +``` + +## Params + +| Type | Name | Description | +|------|-------|-----------------------------| +| bool | start | démarrer l'odométrie ou non | + +## Retour + +| Type | Name | Description | +|------|---------|------------------------| +| bool | success | requête réussie ou non | + +## Utilisé par +- \ No newline at end of file diff --git a/Writerside/topics/OdometryStart-Topic-Interface.md b/Writerside/topics/OdometryStart-Topic-Interface.md new file mode 100644 index 0000000..9953619 --- /dev/null +++ b/Writerside/topics/OdometryStart-Topic-Interface.md @@ -0,0 +1,19 @@ +# OdometryStart +`` + +## Objectif +Lancer l'odométrie. + +## Interface +```cpp +bool start +``` + +## Params + +| Type | Name | Description | +|------|-------|-----------------------------| +| bool | start | démarrer l'odométrie ou non | + +## Utilisé par +- \ No newline at end of file diff --git a/Writerside/topics/OdometryToF-Service-Interface.md b/Writerside/topics/OdometryToF-Service-Interface.md new file mode 100644 index 0000000..650df0b --- /dev/null +++ b/Writerside/topics/OdometryToF-Service-Interface.md @@ -0,0 +1,27 @@ +# OdometryToF +`` + +## Objectif +Recupérer la distance entre le robot et un obstacle à l'aide d'un capteur ToF. + +## Interface +```cpp +uint8 n +--- +int64 distance +``` + +## Params + +| Type | Name | Description | +|-------|---------|-------------------| +| uint8 | n | numéro du capteur | + +## Retour + +| Type | Name | Description | +|--------|----------|-------------------------------------| +| int64 | distance | distance calculé par le capteur ToF | + +## Utilisé par +- \ No newline at end of file diff --git a/Writerside/topics/OdometryToF-Topic-Interface.md b/Writerside/topics/OdometryToF-Topic-Interface.md new file mode 100644 index 0000000..eda273f --- /dev/null +++ b/Writerside/topics/OdometryToF-Topic-Interface.md @@ -0,0 +1,21 @@ +# OdometryToF +`` + +## Objectif +Récupérer la distance entre le robot et un obstacle à l'aide d'un capteur ToF. + +## Interface +```cpp +int8 n +int64 distance +``` + +## Params + +| Type | Name | Description | +|-------|----------|-------------------------------------| +| uint8 | n | numéro du capteur | +| int64 | distance | distance calculé par le capteur ToF | + +## Utilisé par +- \ No newline at end of file diff --git a/Writerside/topics/OdometryWaypointReach-Topic-Interface.md b/Writerside/topics/OdometryWaypointReach-Topic-Interface.md new file mode 100644 index 0000000..f6e2108 --- /dev/null +++ b/Writerside/topics/OdometryWaypointReach-Topic-Interface.md @@ -0,0 +1,19 @@ +# OdometryWaypointReach +`` + +## Objectif +Indique que le robot a atteint un waypoint. + +## Interface +```cpp +uint8 id +``` + +## Params + +| Type | Name | Description | +|-------|------|----------------| +| uint8 | id | id du waypoint | + +## Utilisé par +- \ No newline at end of file diff --git a/Writerside/topics/PCB-Odo-Interface-Node.md b/Writerside/topics/PCB-Odo-Interface-Node.md new file mode 100644 index 0000000..d1922e6 --- /dev/null +++ b/Writerside/topics/PCB-Odo-Interface-Node.md @@ -0,0 +1,24 @@ +# PCB Odo Interface +`` + +## Objectif +Interface de communication avec le PCB Odo. + +### Topic +- [](Odoemtry-GetPosition-Topic.md) : recupère la position du robot à partir de l'odométrie et l'envoie. +- [](Odoemtry-SetPosition-Topic.md) : envoie la nouvelle position du robot à l'odométrie. +- [](Odoemtry-Speed-Topic.md) : recupère la vitesse du robot à partir de l'odométrie et l'envoie. +- [](Odoemtry-ToF-Topic.md) : recupère la distance du robot à l'obstacle le plus proche et l'envoie. +- [](Odoemtry-WaypoointReach-Topic.md) : envoie un message lorsque le robot a atteint un waypoint. +- [](Odoemtry-AddWaypoint-Topic.md) : ajoute un waypoint à la liste des waypoints à atteindre. +- [](Odoemtry-GetPID-Topic.md) : recupère les valeurs des PID de l'odométrie et les envoie. +- [](Odoemtry-SetPID-Topic.md) : envoie les nouvelles valeurs des PID de l'odométrie. + +### Service +- [](Odometry-ToF-Service.md) : recupère la distance du robot à l'obstacle le plus proche. +- [](Odometry-Speed-Service.md) : recupère la vitesse du robot à partir de l'odométrie. +- [](Odometry-GetPosition-Service.md) : recupère la position du robot à partir de l'odométrie. +- [](Odometry-Start-Service.md) : demarre l'odométrie. +- [](Odometry-GetPID-Service.md) : recupère les valeurs des PID de l'odométrie. +- [](Odometry-SetPID-Service.md) : envoie les nouvelles valeurs des PID de l'odométrie. +- [](Odometry-AddWaypoint-Service.md) : ajoute un waypoint à la liste des waypoints à atteindre. diff --git a/Writerside/topics/PID-Topic-Interface.md b/Writerside/topics/PID-Topic-Interface.md new file mode 100644 index 0000000..03f4ce8 --- /dev/null +++ b/Writerside/topics/PID-Topic-Interface.md @@ -0,0 +1,3 @@ +# PID + +Start typing here... \ No newline at end of file diff --git a/Writerside/topics/Speed-Result-Node.md b/Writerside/topics/Speed-Result-Node.md new file mode 100644 index 0000000..92cdb34 --- /dev/null +++ b/Writerside/topics/Speed-Result-Node.md @@ -0,0 +1,9 @@ +# Speed Result +`` + +## Objectif +Récupérer les valeurs de vitesse du robot à partir de l'odométrie. + +### Topic + +### Service