MCU Interface Node

Maintained by Nova

Overview

Serves as our interface between Navigator (ROS) and our Adafruit Grand Central M4 microcontroller (MCU). vehicle/control messages are parsed and converted into throttle messages to be sent via serial.

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In:

• /vehicle/control VehicleControl
• /guardian/mode Mode

Out:

• Serial: Throttle [0, 0.8]

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main(args=None)

Other than initializing the ROS node, it attempts to establish a serial connection to the MCU

publishCommand(self)

Using an inputted throttle command via the /vehicle/control topic, it parses, encodes, and writes the throttle value into serial. The format we use is "s{throttle}e\r"