Configure equipment

[antoinepetty]

Please see new proposed json keys below (taken from this branch's readme)

Arduino O

This Arduino is for controlling the output devices on the main ROV body.

Values in the range 1100 to 1900 will be accepted for Thruster or Motor control where 1100 is full reverse, 1500 is stopped, and 1900 is full forward. However, it's not advised to use values lower than 1350 or higher than 1650 for arm rotation or fish box due to the gearing on these.

Thrusters are given an ID which describes their position on the ROV. Motors are named in a similar fashion.

Pin	JSON ID	Description
0	thfp	Forward Port Thruster (front right)
1	thfs	Forward Starboard Thruster (front left)
2	thap	Aft Port Thruster (back left)
3	thas	Aft Starboard Thruster (back right)
4	tvfp	Top Forward Port Thruster (front right)
5	tvfs	Top Forward Starboard Thruster (front left)
6	tvap	Top Aft Port Thruster (back left)
7	tvas	Top Aft Starboard Thruster (back right)
8	mg	Arm Gripper Motor
9	tm	Micro ROV Thruster
10	mc	Micro ROV return cord

Arduino I

This Arduino is for reading all the sensors on the ROV.

JSON ID	Description
simux	X Orientation
simuy	Y Orientation
simuz	Z Orientation
simut	Internal ROV temperature
simuax	Linear acceleration X
simuay	Linear acceleration Y
simuaz	Linear acceleration Z
sdepp	External water pressure
sdept	External temperature
sdepd	Depth
sdepa	Altitude

and example output (taken from #34 ):
New IDs would mean output such as
Arduino O:

{"id":"o","so":4}
{"id":"o"}
{"id":"o","so":0}
{"id":"o","so":-13}
{"id":"o"}
{"id":"o","so":1}

Arduino I:

{"id":"i","si":4}
{"id":"i","si":-2}
{"id":"i","si":-4}
{"id":"i"}
{"id":"i","si":0}
{"id":"i","si":-3}
{"id":"i","si":-5}
{"id":"i"}

[TheCodeSummoner]

See ncl-ROVers/arduino#27 - sensors not applicable.