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state.svelte.js is the single source of truth for shared reactive state that needs to be accessible across multiple components and routes. Currently it manages the three camera objects. Camera objects Three camera state objects are exported as Svelte 5 $state ...

Shared TypeScript types used across the frontend. Sample — represents a single science sample collected by the rover. Contains location name, coordinates, before/after image paths, measurement, weight, and a set of boolean _check flags tracking which fields ha...

The layout wraps every page in the application. It renders the persistent navigation bar at the top and then the current page's content via {@render children()}. Navigation bar The navbar contains the following controls, always visible regardless of which rout...

/ — Dashboard (Home) File: routes/+page.svelte The main operator screen. A CSS grid layout combining six components into a single view. Components: Double_Video, Map, NavigationPlan, TaskCompletion, IMU, Model (3D scene). /navigation — Navigation File: routes...

1. Docker Compose Services Our docker-compose.yml runs four key services ServiceImage/BuildRolefrontend./frontend/...Nginx server; handles port 80 and proxies /api to the backend.backend./backend/...The Spring Boot REST API.postgrespostgres:15Relational databa...

What is the base station? The Base Station is the ground control application used to monitor and control the rover during operation. It runs on an operator's laptop and provides a unified interface for live video feeds, navigation, task management, rover arm c...

Purpose The logging library provides a simple UART-based logging interface for embedded firmware. Its main job is to let the application print formatted log messages such as: [INFO] MOTOR: Initialization complete [WARNING] SENSOR: Value out of range: 8123 [ERR...

The Sensor Board is an embedded system that acquires environmental and process data from multiple sensors and actuates the sampling hardware (water pump). It integrates water quality (pH), motion (IMU), force (load cells), pressure (FSR pads), and water flow m...

Purpose The result module defines a shared result code system for the codebase. Its job is to give functions a consistent way to report success and failure without inventing random local conventions like: 0 means success here1 means success therenegative value...

This page: structure of this subsystem components/driving_board folder contains 4 libraries: firmwaremotorparsersimulink Firmware contains the generated CubeMX code. Don't edit this after generating, it will be rewritten after you generate again. NOTE: do make...

components/driving_board/motor All of the motor functions in this folder are called in Main BLDC Motors: They are used to control the speed of the rover. bldc.c contains: The set_bldc_pwm() method. This methods scales the control signal value calculated from...

components/driving_board/parser This page: structure of message encoding in parser.c The encoding logic includes: copy_motor_to_pb(): Copies each motor from internal MotorDiagnostic struct into protobuf MotorInformation. DBMDiagnosticsEncode(): Encode...

General structure The general structure of how the control system is made, tested, and deployed works like this: The control system is made using Simulink, using mostly the base functionality to calculate the needed values for different parts of control. Once ...