A char-device broker to communicate with Marcel's MCU
marcel-mobile creates several UNIX FIFOs (for outgoing channels) and publish libpubsub channels (for incoming channels), and mux/demux corresponding data to the MCU's tty :
- /dev/motors : output To send speed commands to the left and right motors (argv=[left,right,timeout])
- /dev/beep : output Just beep (argv=[duration])
- /dev/roam : output, binary To switch between roaming/joystick modes (argv=[0/1])
- /dev/us : input, Receive the US sensors data (fmt=[f,f,f,f,f])
- /dev/odo : input, Receive the odometric path integration (fmt=[x,y,theta])
Data is simply issued as text, and fields are space-separated, one record per line
