AutomatePro Interfaces

Custom ROS Interfaces for AutomatePro

Messages

Type	Description
automatepro_interfaces /msg/AnalogIn	Contains the states of the analog inputs. AutomatePro supports 14 analog input pins. Each input pin is referred to as ain_XX, where XX is the pin number, ranging from 01 to 14. Input Pins: ain_01 - ain_14 DataType: int16 Unit: mV Min: 0 in mV Max: 10000 in mV Sample Rate: 30Hz
automatepro_interfaces /msg/DigitalIn	Contains the states of the digital in. Only published on state change or when requested. AutomatePro supports 10 digital input pins. Each input pin is referred to as din_XX, where XX is the pin number, ranging from 01 to 10. Input Pins: din_01-din_10 DataType: bool Response Rate: 200 ms
automatepro_interfaces /msg/DigitalOut	Publish the desired digital out states to this topic. AutomatePro supports 12 digital out pins (6 High Side and 6 Low Side). Each input pin is referred to as DIGITAL_OUT_H_XX or DIGITAL_OUT_L_XX, where XX is the pin number, ranging from 01 to 06. d_out_pin_id: DataType: uint8 (Use ENUM constants defined in msg definiton. DigitalOut.DIGITAL_OUT_H_XX: 01-06 DigitalOut.DIGITAL_OUT_L_XX: 01-06 ) duty_cycle_percent: DataType: uint8 Min: 0 in percentage % Max: 100 in percentage % Response Rate: 200 ms
automatepro_interfaces /msg/DigitalDriveOut	Publish the desired digital drive states to this topic. Digital Drives can be configured as a full-bridge, half-bridge or as indivisual drives. Each digital drive output is referred to as FUNCTION_XX, where FUNCTION is the configured mode, options are FULL_BRIDGE_DRIVE, HALF_BRIDGE_DRIVE, LOW_SIDE_DRIVE and HIGH_SIDE_DRIVE. XX is the output number, ranges for each mode is mentioned below. LOW_SIDE_DRIVE and HIGH_SIDE_DRIVE requires hardware changes. Please contact support if you want to use it. Inputs: d_out_pin_id: DataType: uint8 (Use ENUM constants defined in msg definiton. DigitalDriveOut.FULL_BRIDGE_DRIVE_XX: 01-06 DigitalDriveOut.HALF_BRIDGE_DRIVE_XX: 01-12 DigitalDriveOut.LOW_SIDE_DRIVE_XX: 01-12 DigitalDriveOut.HIGH_SIDE_DRIVE_XX: 01-12) direction: DataType: bool (Use ENUM constants defined in the msg definition. DigitalDriveOut.FORWARD for forward DigitalDriveOut.REVERSE for reverse ) duty_cycle_percent: DataType: uint8 Min: 0 in percentage % Max: 100 in percentage % Response Rate: 200 ms
automatepro_interfaces /msg/WarningSystems	Publish the desired states for the warning system to this topic. Inputs: warning_system_id: DataType: uint8 (Use ENUM constants defined in msg definiton. Options WarningSystems.WARNING_BUZZER, WarningSystems.WARNING_LIGHT1, WarningSystems.WARNING_LIGHT_2) state: DataType: bool (Use ENUM constants defined in msg definiton. Options WarningSystems.ON, WarningSystems.OFF) Response Rate: 200 ms
automatepro_interfaces /msg/IOControllerDiagnostic	Contains the diagnostic information about the IO Controller Hardware. Fields: - header (std_msgs/Header): Header with timestamp - vbatt_voltage_monitor (float32): Battery voltage in V - v12_io_smps_current_monitor (float32): Current level on the 12V IO SMPS in A - v12_io_smps_voltage_monitor (float32): Voltage level on the 12V IO SMPS in V - main_sbc_smps_current_monitor (float32): Current level on the 12V or 5V SBC SMPS in A - main_sbc_smps_voltage_monitor (float32): Voltage level on the 12V or 5V SBC SMPS in V - v5_io_smps_voltage_monitor (float32): Voltage level on the 5V IO SMPS in V - v5_io_smps_current_monitor (float32): Current level on the 5V IO SMPS in A - amp_total_power_monitor (float32): Total power draw in W - v12_io_power_good (bool): Indicates if the 12V IO power is good - v5_io_power_good (bool): Indicates if the 5V IO power is good - v3_3_io_power_good (bool): Indicates if the 3.3V IO power is good - v12_sbc_power_good (bool): Indicates if the 12V SBC power is good - v5_sbc_power_good (bool): Indicates if the 5V SBC power is good - v3_3_sbc_power_good (bool): Indicates if the 3.3V SBC power is good - v1_8_sbc_power_good (bool): Indicates if the 1.8V SBC power is good - motor_drive_fault_1 (bool): Indicates a fault in motor drive 1 - motor_drive_fault_2 (bool): Indicates a fault in motor drive 2 - motor_drive_fault_3 (bool): Indicates a fault in motor drive 3 - motor_drive_fault_4 (bool): Indicates a fault in motor drive 4 - board_temp (int8): Board temperature in degrees Celsius °C
automatepro_interfaces /msg/IOFirmwareDiagnostic	Contains the diagnostic information about the IO Controller Firmware. Fields: - header (std_msgs/Header): Header with timestamp - fault_code (uint8[10]): Fault Code

Services

Type	Description
automatepro_interfaces/srv/ReqDigitalIn	Request to send the current state of the digital inputs. When requested, current states will be published to /io/din.