Driving Board Protobuffers

This page: each driving_board protobuffer explained. 
 
 The protobuffers for the driving_board are passed between software, control and embedded. 
 DrivingBoardDiagnostics.proto 
 Embedded → Software / Debugging 
 This file contains the full diagnostic state of the driving board and all attached motors. 
 DrivingBoardDiagnostics is the main status message used to report the system state and motor-level health information. 
 DrivingBoardDiagnostics 
 This message contains: 
 Overall board state (IDLE, OPERATING, CALIBRATING, ERROR) Motor information for all driving and steering motors 
 The board state is used to indicate the current operating mode of the driving board. 
 MotorInformation fields: 
 Each motor is reported using the MotorInformation protobuf, which includes: 
 motor state motor ID RPM voltage encoder angle 
 Motors included The diagnostics message explicitly contains 10 motors: front_left_motor middle_left_motor back_left_motor front_right_motor middle_right_motor back_right_motor steering_front_left_motor steering_back_left_motor steering_front_right_motor steering_back_right_motor 
 Notes: This structure is currently fixed-size, meaning all motors are explicitly defined instead of using a repeated field. 
 DrivingBoardMotorMessage.proto 
 Software → Embedded 
 This message is used to send motion commands to the driving board. 
 DrivingBoardMotorMessage Contains high-level movement instructions: 
 distance_to_go → target travel distance turning_radius 
 Purpose: This message defines a movement request from software. The embedded system uses it as input to compute values on the control code. 
 DrivingBoardMotorPeriodicProgress.proto 
 Embedded → Software 
 This message provides runtime feedback during movement execution. DrivingBoardMotorPeriodicProgress 
 Contains: 
 distance_left → remaining distance to target 
 Purpose This message allows software to track progress of an ongoing movement command in real time. It is typically sent periodically while a movement is being executed.