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| Back to [[fejemis]].
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| ==Introduction==
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| The brush unit is controlled by a Teensy 3.2. In addition to the brush it also controls the movement of the front wheel.
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| The front wheel can lift the brush, to be able to pass cables on the floor and to move when the brush is off.
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| The front wheel is also a steering wheel, helping the differential drive when turning.
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| ==Circuit==
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| [[File:bridge-overview.png | 700px]]
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| The bridge combines different inputs from hardware sources to a single socket-based interface point.
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| Selected interface points are made available as ROS messages and key commands can be received from ROS.
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| The main input and output connections are to the Drive and Front Teensy boards, these connections are protected by a simple checksum, the ';99' part, to avoid false or half messages when powering up.
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| All data items are single lines of text. These data items start with a key and optionally additional parameters. The data item has further a data source associated.
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| Data items can be directed to a destination (data forward).
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| A data item can be requested or updates to a data item can be subscribed.
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