From 77a631c6c8b6ccfe8100eabfe32abb861e6a88aa Mon Sep 17 00:00:00 2001
From: Michael Boulet <boulet@ll.mit.edu>
Date: Sat, 28 Nov 2015 15:05:18 -0500
Subject: [PATCH] Add VESC telemetry message type

---
 vesc_driver/CMakeLists.txt      |  2 +-
 vesc_msgs/CMakeLists.txt        |  5 ++++-
 vesc_msgs/msg/VescTelemetry.msg | 25 +++++++++++++++++++++++++
 vesc_msgs/package.xml           |  2 ++
 4 files changed, 32 insertions(+), 2 deletions(-)
 create mode 100644 vesc_msgs/msg/VescTelemetry.msg

diff --git a/vesc_driver/CMakeLists.txt b/vesc_driver/CMakeLists.txt
index 3d4e833..be20368 100644
--- a/vesc_driver/CMakeLists.txt
+++ b/vesc_driver/CMakeLists.txt
@@ -9,7 +9,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 catkin_package(
-  INCLUDE_DIRS include
+# INCLUDE_DIRS include
   CATKIN_DEPENDS nodelet pluginlib roscpp vesc_msgs
 )
 
diff --git a/vesc_msgs/CMakeLists.txt b/vesc_msgs/CMakeLists.txt
index 9664afb..2e9ea90 100644
--- a/vesc_msgs/CMakeLists.txt
+++ b/vesc_msgs/CMakeLists.txt
@@ -2,17 +2,20 @@ cmake_minimum_required(VERSION 2.8.3)
 project(vesc_msgs)
 
 find_package(catkin REQUIRED COMPONENTS
+  std_msgs
   message_generation
 )
 
 add_message_files(
   DIRECTORY msg
   FILES
+  VescTelemetry.msg
 )
 generate_messages(
   DEPENDENCIES
+  std_msgs
 )
 
 catkin_package(
-  CATKIN_DEPENDS message_runtime
+  CATKIN_DEPENDS std_msgs message_runtime
 )
diff --git a/vesc_msgs/msg/VescTelemetry.msg b/vesc_msgs/msg/VescTelemetry.msg
new file mode 100644
index 0000000..54bd073
--- /dev/null
+++ b/vesc_msgs/msg/VescTelemetry.msg
@@ -0,0 +1,25 @@
+# Vedder VESC open source motor controller telemetry
+
+# fault codes
+int32 FAULT_CODE_NONE=0
+int32 FAULT_CODE_OVER_VOLTAGE=1
+int32 FAULT_CODE_UNDER_VOLTAGE=2
+int32 FAULT_CODE_DRV8302=3
+int32 FAULT_CODE_ABS_OVER_CURRENT=4
+int32 FAULT_CODE_OVER_TEMP_FET=5
+int32 FAULT_CODE_OVER_TEMP_MOTOR=6
+
+Header  header
+float32 voltage_input        # input voltage (volt)
+float32 temperature_pcb      # temperature of printed circuit board (degrees Celsius)
+float32 current_motor        # motor current (ampere)
+float32 current_input        # input current (ampere)
+float32 speed                # motor electrical speed (revolutions per minute) 
+float32 duty_cycle           # duty cycle (0 to 1)
+float32 charge_drawn         # electric charge drawn from input (ampere-hour)
+float32 charge_regen         # electric charge regenerated to input (ampere-hour)
+float32 energy_drawn         # energy drawn from input (watt-hour)
+float32 energy_regen         # energy regenerated to input (watt-hour)
+int32   displacement         # net tachometer (counts)
+int32   distance_traveled    # total tachnometer (counts)
+int32   fault_code
diff --git a/vesc_msgs/package.xml b/vesc_msgs/package.xml
index b704a94..fa82a73 100644
--- a/vesc_msgs/package.xml
+++ b/vesc_msgs/package.xml
@@ -16,8 +16,10 @@
 
   <buildtool_depend>catkin</buildtool_depend>
 
+  <build_depend>std_msgs</build_depend>
   <build_depend>message_generation</build_depend>
 
+  <run_depend>std_msgs</run_depend>
   <run_depend>message_runtime</run_depend>
 
 </package>