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Comms - Coggle Diagram
Comms
Base comm class
A derived comm class has to override a lot of base funcs
The kind of functions and methods in the derived class are gonna be used by application classes
The data structures are gonna be ROS msgs
Derived calsses
TCP
Serial
Modbus
Odom application class base
Derived classes define methods for calculating and getting the data from comm classes
Derived classes
Diff odom
Tri wheel odom
Steer odom
Attachment class
I belive there should be differnt gateway for attachment control
Derived classes will then perform attachments
Robot IO application class
Derived classes
Mostly robotIO will contain a lot of normal IOs
Drive IO
Derived classes