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VcuCmd

Drive

A drive command message is a single action followed by six parameters.

message Drive {
    double velocity = 1;
    string direction = 2;
    double acceleration = 3;
    double distance = 4;
    double edgeDistance = 5;
    string edgeSide = 6;
}

velocity

The velocity in meters per second

direction

FORWARD, BACKWARD

acceleration

The acceleration in m/s^2

distance

The distance to travel in meters

edgeDistance

The distance to maintain from a side of the vehicle

edgeSide

PORT, STARBOARD

Orbit

A drive command message is a single action followed by six parameters.

message Orbit {
    double velocity = 1;
    string direction = 2;
    double acceleration = 3;
    double degrees = 4;
}

velocity

The velocity in meters per second

direction

CLOCKWISE, COUTNERCLOCKWISE

acceleration

The acceleration in m/s^2

degress

The degrees to turn in direction

Halt

A drive command message is a single action followed by six parameters.

message Halt {
    double acceleration = 1;
}

acceleration

The acceleration in m/s^2 (0 == instant acceleration)