Sojourner F17: Custom Command & Telemetry

By Piyush Jain ( Mission, Systems, and Testing) | Fall 2017 | Sojourner Team

Introduction:

This blog post will define the custom commands and telemetry visuals required in Arxterra for a successful project mission for Sojourner.

Custom Commands:

  • Move Command
    • This command will define how the six wheels will move when it travels the maze. The app can move a maximum of four wheels, therefore this command will send specific PWM rates for the wheels. In addition, when it turns, one set of wheels will rotate in the opposite direction for the differential requirement.
  • Adjustable Speed Command
    • There will be two speeds for Sojourner
      • Medium speed – 50% power, half pwm, will be used when we conduct a turn command.
      • Full Speed – 100% of the power will be used when going thru a hallway
  • Robot Avoidance
    • A simple on/off switch to prevent collisions

Custom Telemetry:

  • Robot Orientation
    • Displays the direction (North, South, East, West) Sojourner is facing
  • Current Room
    • Displays the current row and column Sojourner occupies
  • Operating Mode
    • Displays whether Sojourner is in RC mode or Autonomous mode.