Update msg_mccd_order.proto

messages/msg_mccd_order.proto → messages/msg_mccd.proto

@@ -5,18 +5,48 @@ message Point2D {
   float y = 2;
 }
 
+enum Status {
+  READY = 0;
+  OVER_CURRENT = 1;
+  ERROR = 2;
+  PWM_STARTED = 3;
+  PWM_CLOSED = 4;
+}
+
 /**
-* Robot odometry message
+* Motor control card driver message
 */
+message Msg_mccd {
+  OneOf {
+    Msg_mccd_order order = 1;
+    Msg_mccd_pos pos = 2;
+    Status status = 3;
+  }
+}
+
+message Msg_mccd_pos {
+
+  /**
+  * Cartesian position of the robot
+  */
+  Point2D pos = 1;
+  
+  /**
+  * Angle of the robot
+  */
+  float ang = 2;
+}
+
+
 message Msg_mccd_order {
 
   /**
   * Linear speed in meters/sec of the robot center point
   */
-  float linearSpeed = 4;
+  float linearSpeed = 1;
   
   /**
   * Angular speed in radians/sec of the robot center point
   */
-  float angularSpeed = 5;
+  float angularSpeed = 2;
 }