Robobot MQTT topics - Revision history

Jca: /* Command topics from Teensy_interface */

2026-05-15T15:18:11Z

Command topics from Teensy_interface

← Older revision		Revision as of 17:18, 15 May 2026
Line 86:		Line 86:

	The teensy interface can publish messages related to its own state, such as:		The teensy interface can publish messages related to its own state, such as:
	dtubot/drive/gnss "<time> <lat> <long> <speed> <sats> <dop>"		dtubot/drive/gnss <time> <lat> <long> <speed> <sats> <dop>
	dtubot/drive/joy/axis "<time> <axis1> <axis2> ... <axis8>		dtubot/drive/joy/axis <time> <axis1> <axis2> ... <axis8>
	dtubot/drive/joy/buttons "<time> <but1> <but2> ... <but11>		dtubot/drive/joy/buttons <time> <but1> <but2> ... <but11>
	dtubot/drive/joy/state "<time> <manual> <linear vel> <turnrate>		dtubot/drive/joy/state <time> <manual> <linear vel> <turnrate>

	== Command topics to Teensy_interface ==		== Command topics to Teensy_interface ==

Jca: /* Command topics to Teensy_interface */

2026-05-15T11:07:37Z

Command topics to Teensy_interface

← Older revision		Revision as of 13:07, 15 May 2026
Line 97:		Line 97:
	* dtubot/cmd/ti/		* dtubot/cmd/ti/

	Examples ~~are (~~from the MQTT-in logger):		Examples from the MQTT-in logger (log_mqtt_in.txt):

	1738498850.8640 0 drive dtubot/cmd/ti log 1		1738498850.8640 0 drive dtubot/cmd/ti log 1
Line 106:		Line 106:
	1738498852.2016 0 drive dtubot/cmd/ti alive 2025-02-02 13:20:50.861066		1738498852.2016 0 drive dtubot/cmd/ti alive 2025-02-02 13:20:50.861066
	1738498857.8342 0 drive dtubot/cmd/ti log 0		1738498857.8342 0 drive dtubot/cmd/ti log 0
	The ''teensy_interface'' logger adds the first 3 columns; the rest are topic and message.		The ''teensy_interface'' logger adds the first 3 columns; the rest are the MQTT topic and message.

	=== Master topic ===		=== Master topic ===

			Only one MQTT client should be allowed to act as the master; at this point, this is the client's responsibility.

	A master regularly publishes a live message that includes a timestamp as payload, e.g. every 400ms:		A master regularly publishes a live message that includes a timestamp as payload, e.g. every 400ms:

Jca: /* Command topics to Teensy_interface */

2026-05-15T11:00:43Z

Command topics to Teensy_interface

← Older revision		Revision as of 13:00, 15 May 2026
Line 97:		Line 97:
	* dtubot/cmd/ti/		* dtubot/cmd/ti/

	Examples are:		Examples are (from the MQTT-in logger):

	1738498850.8640 0 drive dtubot/cmd/ti log 1		1738498850.8640 0 drive dtubot/cmd/ti log 1

Jca at 10:58, 15 May 2026

2026-05-15T10:58:04Z

← Older revision		Revision as of 12:58, 15 May 2026
Line 82:		Line 82:

	At times, the Teensy sends a comment or a debug message. Such messages are sent with the ''info'' topic. A ''#'' always precedes the data in the payload.		At times, the Teensy sends a comment or a debug message. Such messages are sent with the ''info'' topic. A ''#'' always precedes the data in the payload.

			== Command topics from Teensy_interface ==

			The teensy interface can publish messages related to its own state, such as:
			dtubot/drive/gnss "<time> <lat> <long> <speed> <sats> <dop>"
			dtubot/drive/joy/axis "<time> <axis1> <axis2> ... <axis8>
			dtubot/drive/joy/buttons "<time> <but1> <but2> ... <but11>
			dtubot/drive/joy/state "<time> <manual> <linear vel> <turnrate>

	== Command topics to Teensy_interface ==		== Command topics to Teensy_interface ==

Jca at 10:41, 15 May 2026

2026-05-15T10:41:05Z

Show changes

Jca: /* MQTT */

2026-02-01T12:09:30Z

MQTT

← Older revision		Revision as of 14:09, 1 February 2026
Line 20:		Line 20:
	The ''MQTT-explorer'' is recommended and available on all platforms. see: http://mqtt-explorer.com/		The ''MQTT-explorer'' is recommended and available on all platforms. see: http://mqtt-explorer.com/

	[[file: mqtt-server-with-app.png \| ~~700px~~]]		[[file: mqtt-server-with-app.png \| 770px]]

	MQTT message flow and power off. Messages can be explored by MQTT Explorer. The ''ip_display'' does not display the IP address; it is handled by the ''teensy_interface'' (legacy names). The ''Start'' button starts the Python mission app. The shutdown (>5 sec on 'Start') is received by all. The Teensy is told to cut power in 20 seconds to allow the Raspberry to shut down.		MQTT message flow and power off. Messages can be explored by MQTT Explorer. The ''ip_display'' does not display the IP address; it is handled by the ''teensy_interface'' (legacy names). The ''Start'' button starts the Python mission app. The shutdown (>5 sec on 'Start') is received by all. The Teensy is told to cut power in 20 seconds to allow the Raspberry to shut down.

Jca: /* MQTT */

2026-02-01T12:08:39Z

MQTT

← Older revision		Revision as of 14:08, 1 February 2026
Line 22:		Line 22:
	[[file: mqtt-server-with-app.png \| 700px]]		[[file: mqtt-server-with-app.png \| 700px]]

	MQTT message flow and power off. Messages can be explored by MQTT Explorer.		MQTT message flow and power off. Messages can be explored by MQTT Explorer. The ''ip_display'' does not display the IP address; it is handled by the ''teensy_interface'' (legacy names). The ''Start'' button starts the Python mission app. The shutdown (>5 sec on 'Start') is received by all. The Teensy is told to cut power in 20 seconds to allow the Raspberry to shut down.

	== Robobot ==		== Robobot ==

Jca: /* MQTT */

2026-02-01T12:01:48Z

MQTT

← Older revision		Revision as of 14:01, 1 February 2026
Line 21:		Line 21:

	[[file: mqtt-server-with-app.png \| 700px]]		[[file: mqtt-server-with-app.png \| 700px]]

			MQTT message flow and power off. Messages can be explored by MQTT Explorer.

	== Robobot ==		== Robobot ==

Jca at 11:51, 1 February 2026

2026-02-01T11:51:41Z

← Older revision		Revision as of 13:51, 1 February 2026
Line 19:		Line 19:

	The ''MQTT-explorer'' is recommended and available on all platforms. see: http://mqtt-explorer.com/		The ''MQTT-explorer'' is recommended and available on all platforms. see: http://mqtt-explorer.com/

			[[file: mqtt-server-with-app.png \| 700px]]

	== Robobot ==		== Robobot ==

Jca: /* Commands topics to the Teensy */

2026-01-20T13:33:19Z

Commands topics to the Teensy

← Older revision		Revision as of 15:33, 20 January 2026
Line 119:		Line 119:
	== Commands topics to the Teensy ==		== Commands topics to the Teensy ==

	Messages to the Teensy ~~are all topics starting with~~ the ~~direction~~ topic:		Messages to the Teensy use the topic:
	robobot/cmd/T0		robobot/cmd/T0
	~~Then, it~~ will ~~be followed by the~~ keyword ~~that Teensy can recognize~~.		The message will start with a command keyword.
	As an example, a command to subscribe to gyro data could be:		As an example, a command to subscribe to gyro data could be:
	topic: robobot/cmd/T0~~/sub~~		topic: robobot/cmd/T0
	message: gyro 15		message: sub gyro 15

	The Teensy interface ~~strips then strips the direction topic (robobot/cmd/T0) and~~ sends the ~~remaining~~ part ~~and the message~~ to the Teensy, in this case:		The Teensy interface sends the message part to the Teensy, in this case:
	sub gyro 15		sub gyro 15

Line 135:		Line 135:
	The values are averaged over the subscription interval to reduce noise.		The values are averaged over the subscription interval to reduce noise.

	These messages are translated to MQTT af		These messages are translated to MQTT as
	topic: robobot/drive/T0/gyro		topic: robobot/drive/T0/gyro
	message: time x.xxxxx y.yyyyyy z.zzzzz, e.g.:		message: time x.xxxxx y.yyyyyy z.zzzzz, e.g.:
	message: 1740818119.4175 -0.021606 0.115082 0.381836		message: 1740818119.4175 -0.021606 0.115082 0.381836
	~~time is~~ the Raspberry Pi timestamp in seconds since the start of the epoch.		The message has now prepended the Raspberry Pi timestamp in seconds since the start of the epoch.

	The available commands are ~~here~~ [[Help page Teensy 8]].		The available commands are listed on the [[Help page Teensy 8]].

	== Subscription test (gyro) ==		== Subscription test (gyro) ==