mirror of
https://github.com/legop3/MultiRoombaRover.git
synced 2026-09-16 09:31:20 -04:00
60 lines
1.6 KiB
Go
60 lines
1.6 KiB
Go
package roverd
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type helloMessage struct {
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Type string `json:"type"`
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Name string `json:"name"`
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Battery BatteryConfig `json:"battery"`
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MaxWheelSpeed int `json:"maxWheelSpeed"`
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Media MediaConfig `json:"media"`
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CameraServo CameraServoConfig `json:"cameraServo"`
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}
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type sensorMessage struct {
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Type string `json:"type"`
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Timestamp int64 `json:"ts"`
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Data string `json:"data"`
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}
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type inboundMessage struct {
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Type string `json:"type"`
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ID string `json:"id"`
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DriveDirect *driveDirectPayload `json:"driveDirect,omitempty"`
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MotorPWM *motorPWMPayload `json:"motorPwm,omitempty"`
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Raw string `json:"raw,omitempty"`
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SensorStream *sensorStreamPayload `json:"sensorStream,omitempty"`
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Media *mediaCommand `json:"media,omitempty"`
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Servo *servoPayload `json:"servo,omitempty"`
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}
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type driveDirectPayload struct {
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Left int `json:"left"`
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Right int `json:"right"`
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}
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type motorPWMPayload struct {
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Main int `json:"main"`
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Side int `json:"side"`
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Vacuum int `json:"vacuum"`
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}
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type sensorStreamPayload struct {
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Enable bool `json:"enable"`
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}
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type mediaCommand struct {
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Action string `json:"action"`
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}
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type servoPayload struct {
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Angle *float64 `json:"angle,omitempty"`
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Nudge *float64 `json:"nudge,omitempty"`
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PulseUs *int `json:"pulseUs,omitempty"`
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}
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type ackMessage struct {
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Type string `json:"type"`
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ID string `json:"id"`
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Status string `json:"status"`
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Error string `json:"error,omitempty"`
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}
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