Message type: Act

  • Incoming to Rover from Mission Control.
  • Message might come in parts.
  • Sent via Iridium (for Mission) and Zigbee (for Prototyping).
  • .proto file:
message Act {

  //high level driving
  optional int32 driveX = 1;  
  optional int32 driveY = 2;
  optional int32 driveToLatLon = 3;
  
  //low level wheel motor control
  optional int32 wm1 = 4; 
  optional int32 wm2 = 5;
  optional int32 wm3 = 6;
  optional int32 wm4 = 6;
  
  //low level strut motor control
  optional int32 sm1 = 7;  
  optional int32 sm2 = 8;
  optional int32 sm3 = 9; 
  optional int32 sm4 = 10;
  
  optional int32 takeIceSample = 11;
  
  optional int32 heatBodyUntil = 12;
  
  optional int32 sleepUntil = 13;
  
}