Science sar

arm.proto

@@ -1,4 +1,4 @@
-// Version: 1.2
+// Version: 1.3
 
 syntax = "proto3";
 import "version.proto";
@@ -42,6 +42,11 @@ message ArmCommand {
 	Version version = 11;
 }
 
+message AugerData {
+	int32 speedActual = 1;
+	BoolState augerOn = 2;
+}
+
 message GripperData {
 	MotorData lift = 1;
 	MotorData rotate = 2;
@@ -50,6 +55,17 @@ message GripperData {
 	Version version = 4;
 	int32 servoAngle = 5;
 	BoolState laserState = 6;
+
+	AugerData augerData = 7;
+}
+
+message AugerCommand {
+	float augerSpeed = 1;
+
+	// Indicates that [augerSpeed] = 0 is valid, even though 0 usually means no value.
+	bool speedSet = 2;
+
+	BoolState augerOn = 3;
 }
 
 message GripperCommand {
@@ -70,4 +86,6 @@ message GripperCommand {
 	Version version = 9;
 	int32 servoAngle = 10;
 	BoolState laserState = 11;
+
+	AugerCommand auger = 12;
 }

science.proto

@@ -1,4 +1,4 @@
-// Version 1.0
+// Version 2.0
 
 syntax = "proto3";
 
@@ -37,26 +37,24 @@ enum CarouselCommand {
 	FILL_SECTION = 6;
 }
 
+
 /// A command to the science subsystem.
 message ScienceCommand {
 	// Individual control over each motor. Indicates steps to move
 	float carousel_motor = 1;
-	float scoop_motor = 2;
-	float subsurface_motor = 3;
 
 	// Control over other hardware
 	PumpState pumps = 4;
-	ServoState funnel = 5;
-	ServoState scoop = 6;
-	CarouselCommand carousel = 7;	
+	ServoState subsurface = 5;
+	CarouselCommand carousel = 6;	
 
 	// High level commands
-	bool calibrate = 8;
-	bool stop = 9;
-	int32 sample = 10;
-	ScienceState state = 11;
+	bool calibrate = 7;
+	bool stop = 8;
+	int32 sample = 9;
+	ScienceState state = 10;
 
-	Version version = 12;
+	Version version = 11;
 }
 
 /// Data coming from the science subsystem.
@@ -69,6 +67,8 @@ message ScienceData {
 	float co2 = 3;
 	float humidity = 4;
 	float temperature = 5;
+
+	ServoState subsurface = 6;
 
-	Version version = 6;
+	Version version = 7;
 }