Skip to content

Implemented and successfully tested manipulator. LED-lights, manipula… #69

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
tomasaas merged 1 commit into from
Jun 11, 2026
Merged

Implemented and successfully tested manipulator. LED-lights, manipula… #69

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
36 changes: 18 additions & 18 deletions data/data.json
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,14 +1,14 @@
{
"imu": {
"yaw": 0.0,
"pitch": 0.0,
"roll": 0.0,
"yr": 0.0,
"pr": 0.0,
"rr": 0.0,
"ax": 0.0,
"ay": 0.0,
"az": 0.0
"yaw": 35.51,
"pitch": 4.75,
"roll": -179.7,
"yr": 0.05,
"pr": 0.01,
"rr": 0.12,
"ax": 0.002,
"ay": 0.001,
"az": -0.001
},
"9dof": {
"acceleration": {
Expand Down Expand Up @@ -74,14 +74,14 @@
"dptSet": 0.0
},
"resources": {
"sequence": 0,
"uptime_ms": 0,
"cpu_percent": 0,
"heap_used_percent": 0,
"heap_free_kb": 0,
"heap_total_kb": 0,
"thread_count": 0,
"udp_rx_count": 0,
"sequence": 137,
"uptime_ms": 139172,
"cpu_percent": 4,
"heap_used_percent": 2,
"heap_free_kb": 502,
"heap_total_kb": 512,
"thread_count": 20,
"udp_rx_count": 2695,
"udp_rx_errors": 0
},
"control_telemetry": {
Expand Down Expand Up @@ -123,4 +123,4 @@
"Buttons": {
"button_surface": 0
}
}
}
13 changes: 10 additions & 3 deletions tools/send_control_telemetry.py
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,12 @@
import binascii
import socket
import struct
import sys
from pathlib import Path

PROJECT_ROOT = Path(__file__).resolve().parents[1]
sys.path.insert(0, str(PROJECT_ROOT))

from lib.crc import crc32_ieee

AXES = ["surge", "sway", "heave", "roll", "pitch", "yaw"]
PORT = 5005
Expand All @@ -17,11 +23,12 @@ def build_packet() -> bytes:
body += struct.pack("<6f", *setpoints)
body += struct.pack("<6f", *outputs)
body += struct.pack("<6f", *errors)
body += struct.pack("<fH", 0.0, 1500)

crc = binascii.crc32(body) & 0xFFFFFFFF
crc = crc32_ieee(body)
packet = body + struct.pack(">I", crc)

print(f"Packet size: {len(packet)} bytes (expected 80)")
print(f"Packet size: {len(packet)} bytes (expected 86)")
print(f"CRC: 0x{crc:08X}")
return packet

Expand Down
Loading