Overview

Purpose

The actuator service takes a "steering and acceleration decision" and turns it into hardware signals to spin the rear motors, steer the front wheels and to spin up a fan?

Installation

To install this service, the latest release of roverctl should be installed for your system and your Rover should be powered on.

Using roverctl

1. Install the service from your terminal

# Replace ROVER_NUMBER with your the number label on your Rover (e.g. 7)
roverctl service install -r <ROVER_NUMBER> https://github.com/VU-ASE/actuator/releases/latest/download/actuator.zip 

Using roverctl-web

1. Open roverctl-web for your Rover

# Replace ROVER_NUMBER with your the number label on your Rover (e.g. 7)
roverctl -r <ROVER_NUMBER>

2. Click on "install a service" button on the bottom left, and click "install from URL"
3. Enter the URL of the latest release:

https://github.com/VU-ASE/actuator/releases/latest/download/actuator.zip 

Follow this tutorial to understand how to use an ASE service. You can find more useful roverctl commands here

Requirements

• A PCA-9865 board should be connected to the Debix over I2C
  • If you want to configure the used I2C bus, you should modify this service's service.yaml and upload your service again.

Inputs

As defined in the service.yaml, this service depends on the following read streams:

• decision, exposed by a controller service:
  • From this stream, it will read a ControllerOutput messages wrapped in a SensorOutput wrapper message

Outputs

As defined in the service.yaml, this service does not expose any write streams.