Glossary¶
The terms of this artifact's domain. Code identifiers derive from a term by the language's naming convention only; never use a synonym. A term in prose is set in italics.
| Term | Definition |
|---|---|
| Battery Voltage | Voltage of the battery of the Drive: the mean of the current Supply Voltages of both motor controller boards |
| CAN Adapter | Device that connects the Superordinate Controller to the CAN bus over USB serial, see can_adapter.md |
| CAN Frame Line | Text form of one CAN frame on the serial line of the CAN Adapter, e.g. <08200001:00 00 00 00 00 00 |
| Drive Command | CAN message DriveCommand: the target speeds of the three motors of the Drive |
| Measured Speed | Speed of one motor as its motor controller board measures it, without unit; sent in the CAN message MotorNSpeed |
| Motor Speed | Measured Speed of one motor in percent of full scale, with the sign of the target speed that turns the motor in this direction |
| Neutral Drive Command | Drive Command with all target speeds zero; keeps the Drive operational without moving it |
| Remote Control API | REST API of the Superordinate Controller with which the Robot Operator drives the robot remotely |
| Remote Drive Command | Request of the Remote Control API to move the robot: to translate it in a direction at a speed, or to rotate it around its center at a speed |
| Remote Drive Command Timeout | Time for which a Remote Drive Command stays active after its receipt |
| Robot Operator | Person who drives and debugs the robot remotely with the Web App |
| Safe Mode | State in which the Superordinate Controller keeps all actuators safe; it sends the Neutral Drive Command |
| Status Report | Line in which the CAN Adapter reports, every 5 s, its counters and the cause of its last start, see can_adapter.md |
| Stop Command | Request of the Remote Control API to end the active Remote Drive Command and enter the Safe Mode |
| Supply Voltage | Battery voltage measured by one motor controller board, in units of 0.01 V; sent in the CAN message MotorNStatus |
| Telemetry Snapshot | The Battery Voltage and the Motor Speeds at one point in time, as the Telemetry Stream carries them |
| Telemetry Stream | Stream of Server-Sent Events of the Remote Control API that pushes a Telemetry Snapshot at a fixed interval |
| Web App | Browser application that consumes the Remote Control API; a separate artifact |