Reference

This page introduces all types of data that can be received from the MCU, as well as the commands that can be sent to the MCU.

Common Structs

The following are details of the structs used in communication. Check here if the data type starts with MCU.

McuDof

Variable Name	Type	Description
x	float	X-axis position
y	float	Y-axis position
rotation	float	Rotation

McuPower

Variable Name	Type	Description
voltage	float	Voltage
current	float	Current

MCU to PC (Read from MCU)

Robot Data

This consists of the basic data such as transforms, motor speeds, and sensor data.

McuData is defined as follows:

Variable Name	Type	Description
type	char	Must be `MCU_DATA_TYPE`
transform	McuDof	Transform of the robot
forward_kinematic	McuDof	Forward Kinematic of the robot
motors_target_velocity	float[4]	Target velocity of the motors
motors_desired_velocity	float[4]	Desired velocity of the motors (for speed control)
motors_actual_velocity	float[4]	Actual velocity of the motors
motors_ccr	int[4]	Output of the PID controller and final PWM value
battery1	McuPower	Power of battery 1
battery2	McuPower	Power of battery 2
software_emergency_stop_enabled	bool	Whether the software emergency stop is enabled
hardware_emergency_stop_enabled	bool	Whether the hardware stop button is pressed
battery_low_emergency_stop_enabled	bool	Whether the battery level is too low for motor power

Serial Number

The serial number of the MCU. Convert the bits to hexadecimal and concatenate them to obtain the full serial number.

QString serialNumber = QString("%1%2%3")
	.arg(mcuSerialNumber.serial_number1, 8, 16, QLatin1Char('0'))
	.arg(mcuSerialNumber.serial_number2, 8, 16, QLatin1Char('0'))
	.arg(mcuSerialNumber.serial_number3, 8, 16, QLatin1Char('0'))
	.toUpper();

McuSerialNumber is defined as follows:

Variable Name	Type	Description
type	char	Must be `MCU_SERIAL_NUMBER_TYPE`
serial_number1	uint32_t	Serial number of the MCU (Part 1)
serial_number2	uint32_t	Serial number of the MCU (Part 2)
serial_number3	uint32_t	Serial number of the MCU (Part 3)

PID

PID settings for each motor.

McuPid is defined as follows:

Variable Name	Type	Description
type	char	Must be `MCU_PID_TYPE`
pid_speed	float[3]	Speed for each PID level
p	float[3][4]	Proportional gain constant for motor PID control
i	float[3][4]	Integral gain constant for motor PID control
d	float[3][4]	Derivative gain constant for motor PID control
motors_maximum_speed	float[4]	Maximum speed of the motors

PC to MCU (Write to MCU)

Please ensure the command variable is set correctly to prevent unexpected behaviour.

Software Emergency Stop

Set the software emergency stop.

McuSoftwareEmergencyStopCommand is defined as follows:

Variable Name	Type	Description
command	char	Must be `MCU_SOFTWARE_EMERGENCY_STOP_COMMAND_TYPE`
enabled	bool	Whether to enable the software emergency stop

Inverse Kinematics

Control the movement of the robot.

McuInverseKinematicsCommand is defined as follows:

Variable Name	Type	Description
command	char	Must be `MCU_INVERSE_KINEMATICS_COMMAND_TYPE`
velocity	McuDof	Target velocity of the robot

Motor Speed

Set the speed of a single motor.

McuMotorCommand is defined as follows:

Variable Name	Type	Description
command	char	Must be `MCU_MOTOR_COMMAND_TYPE`
motor	uint8_t	Motor number (0 to 3)
velocity	float	Target velocity of the motor

Set PID Speed

Set the speed of the PID controller.

McuSetPidSpeedCommand is defined as follows:

Variable Name	Type	Description
command	char	Must be `MCU_SET_PID_SPEED_COMMAND_TYPE`
pid_speed	float[3]	Speed for each PID level

Get PID

Get the PID settings of the motor. The MCU will return it via serial read.

McuGetPidCommand is defined as follows:

Variable Name	Type	Description
command	char	Must be `MCU_GET_PID_COMMAND_TYPE`

Set PID

Set the PID settings for a single motor and a single level.

McuSetPidCommand is defined as follows:

Variable Name	Type	Description
command	char	Must be `MCU_SET_PID_COMMAND_TYPE`
motor	uint8_t	Motor number (0 to 3)
level	uint8_t	Level number (0 to 2)
p	float	Proportional gain constant
i	float	Integral gain constant
d	float	Derivative gain constant

Save PID

Save the PID settings and level velocities. These persist after reset but may be overwritten by a full chip erase.

McuSavePidCommand is defined as follows:

Variable Name	Type	Description
command	char	Must be `MCU_SAVE_PID_COMMAND_TYPE`

Set Motor Maximum Speed

Set the maximum speed of all motors.

McuSetMotorMaximumSpeedCommand is defined as follows:

Variable Name	Type	Description
command	char	Must be `MCU_SET_MOTOR_MAXIMUM_SPEED_COMMAND_TYPE`
motor	uint8_t	Motor number (0 to 3)
speed	float[4]	Maximum speed of the motor

Get Serial Number

Get the serial number of the MCU. The MCU will return it via serial read.

McuGetSerialNumberCommand is defined as follows:

Variable Name	Type	Description
command	char	Must be `MCU_GET_SERIAL_NUMBER_COMMAND_TYPE`

Reset Transform

Reset the transform of the robot.

McuResetTransformCommand is defined as follows:

Variable Name	Type	Description
command	char	Must be `MCU_RESET_TRANSFORM_COMMAND_TYPE`