Glossary¶
This glossary defines the ubiquitous language of this bounded context.
Code identifiers are derived from these terms by applying the target language's own naming convention (camelCase, PascalCase, snake_case, ...) — see the "Code identifiers ... mirror its glossary term exactly" rule in the general coding guideline. Never invent a synonym: if the term is "Task Title", the identifier must derive from "Task Title" itself (e.g.
taskTitle,TaskTitle,task_title), never from "Title" or "TaskName".
Core Terms¶
| Term | Definition | Scope |
|---|---|---|
| Drive | The three motors of the robot, addressed as one subsystem on the CAN bus. | ALL |
| Motor | One of the three motors of the Drive, numbered 1 to 3. | ALL |
| Bridge | This firmware. It relays the messages of the Drive between the CAN bus and the Motor Controller Boards. | ALL |
| Motor Controller Board | A finished, reusable third-party product with a left and a right motor output. It has a fixed UART interface, which the Bridge consumes unchanged. | ALL |
| Superordinate Controller | The Raspberry Pi computer that commands the Drive. | ALL |
| Status Report | Line over USB serial in which the Bridge reports its counters, the feedback of each Motor Controller Board, and the cause of its last start; every 5 s and at once on news (capability 006). | ALL |
| Silence Timeout | Time without a valid frame after which a Motor Controller Board counts as silent in the Status Report. | ALL |
Messages¶
| Term | Definition | Scope |
|---|---|---|
| Drive Command | Target speeds of all three Motors. Sent by the Superordinate Controller. | ALL |
| Status Query | Request for the state of the Drive. Sent by the Superordinate Controller. | ALL |
| Board Command | Target speeds for the left and right output of one Motor Controller Board, split from a Drive Command. | ALL |
| Board Status | Supply Voltage and Controller Temperature reported by one Motor Controller Board, once per second. | ALL |
| Motor Status | Supply Voltage and Controller Temperature of one Motor, taken from the Board Status of the board that drives it. Sent by the Drive. | ALL |
| Board Odometry | Measured Speeds of the left and right output reported by one Motor Controller Board, every 10 ms. | ALL |
| Motor Speed | Measured Speed of one Motor, taken from the Board Odometry of the board that drives it. Sent by the Drive. | ALL |
| Board State | State Bits reported by one Motor Controller Board when they change and in reply to a Status Query. | ALL |
| Motor State | State Bits of one Motor: the bits of its own output and the board-wide bits of the Board State of the board that drives it. Sent by the Drive. | ALL |
Value Objects¶
Value objects have no identity — they are equal by value.
| Term | Validation / Constraints |
|---|---|
| Target Speed | Unit-less, nominal range -1000 to 1000. Not enforced by the Bridge. |
| Supply Voltage | Battery voltage measured by a Motor Controller Board, in units of 0.01 V. Not checked by the Bridge. |
| Controller Temperature | Temperature of a Motor Controller Board, in °C. Not checked by the Bridge. |
| State Bits | 32 bits: persistent conditions in bits 0–15, events set for one report in bits 16–31, in the layout of the board's Serial_Feedback_State. Not checked by the Bridge. |
| Measured Speed | Speed of one output as measured by its Motor Controller Board. Unit-less, sign as reported by the board. Not checked by the Bridge. |