# Provides a cliff sensor reading # This message is generated whenever a particular cliff sensor signals that the # robot approaches or moves away from a cliff. # cliff sensor uint8 RIGHT = 0 uint8 MIDRIGHT = 1 uint8 MIDLEFT = 2 uint8 LEFT = 3 uint8 BACKLEFT = 4 uint8 BACKRIGHT = 5 # cliff sensor state uint8 FLOOR = 0 uint8 CLIFF = 1 uint8 sensor uint8 state # distance to floor when cliff was detected float32 distance # return rate from the vl6180x, rear cliff sensors only float32 return_rate
Identifies which sensor this message is for (only LEFT, MIDLEFT, RIGHT, BACKLEFT, and BACKRIGHT are used; MIDRIGHT (1) is no longer used)
RIGHT = 0 MIDRIGHT = 1 MIDLEFT = 2 LEFT = 3 BACKLEFT = 4 BACKRIGHT = 5
Detecting a cliff or not.
FLOOR = 0 CLIFF = 1
Estimated distance to the floor (only used for rear cliff sensors)
Return rates as returned by the VL6180X cliff sensors (rear cliff sensors only).