From a01b73fafa11a981b4fd3902f1f52a95a7c6458c Mon Sep 17 00:00:00 2001 From: Michael Anderson Date: Mon, 3 Oct 2022 15:46:27 -0700 Subject: [PATCH 1/3] spring SI units Signed-off-by: Michael Anderson --- buoy_interfaces/msg/SCRecord.msg | 13 +++++++------ 1 file changed, 7 insertions(+), 6 deletions(-) diff --git a/buoy_interfaces/msg/SCRecord.msg b/buoy_interfaces/msg/SCRecord.msg index 1ddf5a7..5c491ac 100644 --- a/buoy_interfaces/msg/SCRecord.msg +++ b/buoy_interfaces/msg/SCRecord.msg @@ -1,14 +1,15 @@ #Spring Controller +# All SI units std_msgs/Header header # time int16 seq_num -int16 load_cell -float32 range_finder -float32 upper_psi -float32 lower_psi +int16 load_cell # N +float32 range_finder # m +float32 upper_pressure # Pa +float32 lower_pressure # Pa int64 epoch -float32 salinity -float32 temperature +float32 salinity # UNUSED +float32 temperature # K, UNUSED uint16 RELIEF_VALVE_REQUEST=1 # Request to open/close valve uint16 RELIEF_VALVE_STATUS=128 # Status of Relief valve open/close From b255221a7fcaf80238a85abd59e31fa6f3b26d43 Mon Sep 17 00:00:00 2001 From: Michael Anderson Date: Mon, 3 Oct 2022 16:00:32 -0700 Subject: [PATCH 2/3] temp in Celsius Signed-off-by: Michael Anderson --- buoy_interfaces/msg/SCRecord.msg | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/buoy_interfaces/msg/SCRecord.msg b/buoy_interfaces/msg/SCRecord.msg index 5c491ac..f48e918 100644 --- a/buoy_interfaces/msg/SCRecord.msg +++ b/buoy_interfaces/msg/SCRecord.msg @@ -9,7 +9,7 @@ float32 upper_pressure # Pa float32 lower_pressure # Pa int64 epoch float32 salinity # UNUSED -float32 temperature # K, UNUSED +float32 temperature # C, UNUSED uint16 RELIEF_VALVE_REQUEST=1 # Request to open/close valve uint16 RELIEF_VALVE_STATUS=128 # Status of Relief valve open/close From a14facd88ef25c3440f079370b9c20f8a631a806 Mon Sep 17 00:00:00 2001 From: Michael Anderson Date: Mon, 3 Oct 2022 16:30:19 -0700 Subject: [PATCH 3/3] list pc units Signed-off-by: Michael Anderson --- buoy_interfaces/msg/PCRecord.msg | 23 ++++++++++++----------- 1 file changed, 12 insertions(+), 11 deletions(-) diff --git a/buoy_interfaces/msg/PCRecord.msg b/buoy_interfaces/msg/PCRecord.msg index bd4c1ff..e78e654 100644 --- a/buoy_interfaces/msg/PCRecord.msg +++ b/buoy_interfaces/msg/PCRecord.msg @@ -1,22 +1,23 @@ # Power Controller +# All SI Units (REP103) std_msgs/Header header # time int16 seq_num float32 rpm float32 sd_rpm -float32 voltage -float32 draw_curr_limit -float32 bcurrent -float32 wcurrent -float32 torque -float32 diff_press -float32 bias_current -float32 loaddc +float32 voltage # V +float32 draw_curr_limit # A +float32 bcurrent # A +float32 wcurrent # A +float32 torque # N*m +float32 diff_press # Pa +float32 bias_current # A +float32 loaddc # A float32 scale float32 retract -float32 target_v -float32 target_a -float32 charge_curr_limit +float32 target_v # V +float32 target_a # A +float32 charge_curr_limit # A # Note: Not Currently Implemented in Sim Controller uint16 MODE=1 # controller mode. specified by defines in config.h (GENERATOR_MODE, TORQUE_MODE)