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data structures for on-robot communication

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Andy Killorin 2025-01-27 23:22:18 -05:00
parent e46fc9bb00
commit 5b29c12d05
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
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//! Data types shared between the northbridge and southbridge for serial communications
#![no_std]
use nalgebra::Vector3;
use serde::{Deserialize, Serialize};
#[derive(Serialize, Deserialize)]
pub enum Command {
/// Forward, clockwise
Twist(f32,f32),
Stop,
/// R, G, B brightness
SetLed(Vector3<u8>),
Enable,
FeedWatchdog,
Disable,
}
#[derive(Serialize, Deserialize)]
pub struct Response {
enabled: bool,
sensor_data: Option<SensorData>,
uptime_micros: u64,
}
#[derive(Serialize, Deserialize)]
pub enum SensorData {
/// degrees per second
Gyro(Vector3<f32>),
/// g
Accelerometer(Vector3<f32>),
/// mT
Magnetometer(Vector3<f32>),
/// V
BusVoltage(f32),
}