Lighting
Corner lighting is unified for platforms that support it (A300, DX100, DX150, R100, W200). Lighting is controlled by the lighting node which defines multiple lighting states.
The platforms lighting state is determined based on data from multiple platform status topics. Lighting states are given a priority, such that the most important state (lowest priority value) is displayed first.
The lighting node will publish the current lighting command directly to the MCU. It also subscribes to user lighting commands, and will instead publish those user commands if appropriate.
Lighting States
- Husky A300
- Dingo D100
- Dingo D150
- Ridgeback R100
- Warthog W200
| Lighting State | Lighting Pattern | Priority | User commands allowed | Notes |
|---|---|---|---|---|
| Light Control Fault (or boot failure) |  | N/A | No | |
| Battery Fault |  | 0 | No | |
| Motor Fault |  | 2 | No | The light in the same corner as the faulted motor will flash |
| Motors Overheated |  | 3 | No | |
| Motors Throttled |  | 4 | Yes | |
| Charged |  | 8 | Yes | |
| Charging (wired or wireless) |  | 9 | Yes | |
| Needs Reset (after Emergency Stop) |  | 10 | No | |
| Emergency Stop Engaged |  | 11 | No | |
| Low Battery |  | 12 | No | |
| Driving |  | 13 | Yes | |
| Idle |  | 14 | Yes |
| Lighting State | Lighting Pattern | Priority | User commands allowed |
|---|---|---|---|
| Light Control Fault (or boot failure) | | N/A | No |
| Battery Fault | | 0 | No |
| Shore Power Fault |  | 1 | No |
| Shore Power and Charged |  | 5 | Yes |
| Shore Power |  | 7 | Yes |
| Charged | | 8 | Yes |
| Charging (wired or wireless) | | 9 | Yes |
| Emergency Stop Engaged | | 11 | No |
| Low Battery | | 12 | No |
| Driving | | 13 | Yes |
| Idle | | 14 | Yes |
| Lighting State | Lighting Pattern | Priority | User commands allowed |
|---|---|---|---|
| Light Control Fault (or boot failure) | | N/A | No |
| Battery Fault | | 0 | No |
| Shore Power Fault | | 1 | No |
| Shore Power and Charged | | 5 | Yes |
| Shore Power and Charging |  | 6 | Yes |
| Shore Power | | 7 | Yes |
| Charged | | 8 | Yes |
| Charging (wired or wireless) | | 9 | Yes |
| Emergency Stop Engaged | | 11 | No |
| Low Battery | | 12 | No |
| Driving | | 13 | Yes |
| Idle | | 14 | Yes |
| Lighting State | Lighting Pattern | Priority | User commands allowed |
|---|---|---|---|
| Light Control Fault (or boot failure) | | N/A | No |
| Battery Fault | | 0 | No |
| Charged | | 8 | Yes |
| Charging (wired or wireless) | | 9 | Yes |
| Needs Reset (after Emergency Stop) | | 10 | No |
| Emergency Stop Engaged | | 11 | No |
| Low Battery | | 12 | No |
| Driving | | 13 | Yes |
| Idle | | 14 | Yes |
| Lighting State | Lighting Pattern | Priority | User commands allowed |
|---|---|---|---|
| Light Control Fault (or boot failure) | | N/A | No |
| Battery Fault | | 0 | No |
| Charged | | 8 | Yes |
| Emergency Stop Engaged | | 11 | No |
| Low Battery | | 12 | No |
| Driving | | 13 | Yes |
| Idle | | 14 | Yes |