Hello OpenROV forum.
We’re a group of students who have currently just finished building the OpenROV 2.8 and are ready to implement our control solution for it. The plan is to create our own heading and depth control using Modern control theory, more specifically a State-Space controller using an estimator.
The current idea is that we want to write our own code on the beaglebone to incooperate our own system. We plan on re-using the code on the Arduino and are therefore currently looking for the commands which the nodejs server sends to the Arduino over serial. For the sake of simplicity and lack of time, we would prefer to implement said control system directly in cpp.
We have figured out that the files such CThrusters_2X1.cpp checks whether the given command is equal to a string followed by some values (Over serial). And that there are several files managing the incoming commands, but no documentation regarding the available commands.
Question is: Is there a compiled list somewhere of commands and their associated value ranges?