The rover will use a Raspberry Pi 5 and an MCU (Not specified yet) will need to communicate with each other using SPI. Regardless of which MCU we are using, we will need to define a communications structure and packet to send via SPI between the 2 computers. Currently, the plan is to send desired wheel velocities and steering angles to the MCU to command the motors to actuate, and also send back the encoder counts (or wheel rotations) from the MCU to the RPI5.
|
void WheelDataSpiNode::timerCallback() { |
|
// Periodically read from the SPI to get the latest Encoder counts |
|
// and to send the latest wheel speeds and steering angles |
|
} |
The rover will use a Raspberry Pi 5 and an MCU (Not specified yet) will need to communicate with each other using SPI. Regardless of which MCU we are using, we will need to define a communications structure and packet to send via SPI between the 2 computers. Currently, the plan is to send desired wheel velocities and steering angles to the MCU to command the motors to actuate, and also send back the encoder counts (or wheel rotations) from the MCU to the RPI5.
Perseverance/perseverance/src/communications/wheel_data_spi_node.cpp
Lines 41 to 44 in 5fc6980