Goliath Fall 2016

Custom Telemetry

Table of Contents

By: Diana Nguyen (Missions, Systems, and Test Engineer)

Approved by Kristen Oduca (Project Manager)

Introuction

Requirement: Goliath shall be Biped’s vision during the game shall be provided by the camera and periscope on the Goliath.

For our custom command, we created remote button that appear on the Arxterra Control Panel and Arxterra App. These remote buttons allow us to switch between remote control mode and autonomous mode.  For telemetry we will be displaying the battery level of the 3Dot and phone.  It is important to know the difference between telemetry and commands.  Commands is when information is being sent to the robot while telemetry is information about the robot being sent to the user.  For example, commands would be the user sending the robot instruction where to move.  Telemetry would be the robot sending what its battery level to the user.

Set up

Custom Commands

Custom commands can be set up on the Arxterra App in developer mode which can be accessed on the main menu.  Once developer mode is on, click on the gear icon next to the on and off switch of developer mode shown in Figure 1.

Figure 1 - Developer Mode on and Gear Icon

Figure 1 – Developer Mode on and Gear Icon

From the new drop down menu, click on “Custom Command & Telemetry Configuration” shown in Figure 2.

Figure 2 - Drop Down Menu

Figure 2 – Drop Down Menu

Here you can create as many custom command as you need as long as you have available registers.  You can create a new custom command by clicking the “+” and select what kind of switch you want shown in Figure 3.  

Figure 3 - Adding Custom Commands

Figure 3 – Adding Custom Commands

We decide to use remote buttons with the option of “Remote Control” or “Autonomous”.  As shown in the picture above RC mode is command 0x00 and autonomous is 0x01.  Both in the code and application RC mode is set to the default method of control for Goliath.

Telemetry

We decide to use remote buttons with the option of “Remote Control” or “Autonomous”.  As shown in the picture above RC mode is command 0x00 and autonomous is 0x01.  Both in the code and application RC mode is set to the default method of control for Goliath.

Telemetry

Below in Figures 4 and 5 is photos of the Goliath telemetry and custom command code.  Everything in a red box is custom command and blue boxes is telemetry.

Figure 4 - Custom Command and Telemetry Code Part 1

Figure 4 – Custom Command and Telemetry Code Part 1

Figure 4 - Custom Commands and Telemetry Code Part 2

Figure 4 – Custom Commands and Telemetry Code Part 2

Conclusion

After reading this blog post you have a slightly better understanding of commands and telemetry.  One of the main things to note is the difference between them.  Commands is information being sent to the robot while telemetry is information about the robot being sent to the user.