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High-Level Control

Remote WebApp (ReactJS) to vehicle control

Title: Remote Vehicle Control
WebApp->GCM: VehicleCmd
GCM->VCU: VehicleCmd
VCU->Shim: MotorCmd
Shim->MCU: MotorCmd
MCU->Shim: MotorData
Shim->VCU: MotorData
VCU->Shim: MotorCmd (PID)
Shim->MCU:  MotorCmd (PID)

Remote WebApp (ReactJS) to direct motor control

Title: Remote Motor Control
WebApp->GCM: MotorCmd
GCM->Shim: MotorCmd
Shim->MCU: MotorCmd
MCU->Shim: MotorData
Shim->GCM: MotorData
GCM->WebApp: MotorData
WebApp->GCM: MotorCmd (PID)
GCM->Shim: MotorCmd (PID)
Shim->MCU:  MotorCmd (PID)

Decode

Code Description
WebApp The ReactJS webapp running on a user's device
GCM Google Cloud Messaging
VCU The vehicle control programming that runs the local robot's android device
Shim The motor command handler background process that runs on the local robot's android device
MCU The physical motor controller tied to Android by USB3 Type-C