Create standard list of keys

[katzuv]

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[katzuv]

Keys are divided into general keys and subsystem-specific keys. All keys start with \.

General keys: \robot

• odometry
  • \pose:
    • double[] of three values: x, y, heading.
    • Units: x and y are in [m], heading is in [°]
    • Example: \robot\odometry\pose ➡️ [1.23, 4.56, 7.89]
  • \velocity: double[] of three values: x, y, rotational
• \commands: logs string messages of command start/stop
  • Message structure [JSON]:
    • Start: {"subsystem": $subsytem_name, "state": "start", "parameters": {$argument1: $paramater1, $argument2: $paramater2, ...}
    • End: {"subsystem": $subsytem_name, "state": "end", "interrupted": true/false}
• vision
  • distance: double
  • yaw: double
  • pitch: double
  • roll: double
  • has_target: boolean
  • apriltags: TBP from PhotonVision

  Subsystem-specific: \subsystems\{subsystem}

• per {motor_name}
  • velocity
    • raw sensor units, example: \subsystems\elevator\main\velocity\raw
    • human readable units, e.g. m, m/s, °
  • position: raw and human as abovementioned
  • velocity: raw and human as abovementioned