Lighting
Corner lighting is unified for platforms that support it (D100, D150, R100, W200). Lighting is controlled by the lighting node which defines multiple lighting states.
The platforms lighting state is determined based on data from multiple platform status topics. Lighting states are given a priority, such that the most important state (lowest priority value) is displayed first.
The lighting node will publish the current lighting command directly to the MCU. It also subscribes to user lighting commands, and will instead publish those user commands if appropriate.
Lighting States
| Lighting State | Lighting Pattern | Priority | User commands allowed | Platform |
|---|---|---|---|---|
| Light Control Fault (or boot failure) |  | N/A | No | All |
| Battery Fault |  | 0 | No | D100, D150, R100, W200, A300 |
| Shore Power Fault |  | 1 | No | D100, D150 |
| Motor Fault |  | 2 | No | A300 |
| Motors Overheated |  | 3 | No | A300 |
| Motors Throttled |  | 4 | Yes | A300 |
| Shore Power and Charged |  | 5 | Yes | D100, D150 |
| Shore Power and Charging |  | 6 | Yes | D150 |
| Shore Power |  | 7 | Yes | D100, D150 |
| Charged |  | 8 | Yes | D100, D150, R100, W200, A300 |
| Charging (wired or wireless) |  | 9 | Yes | D150, R100, A300 |
| Needs Reset (after Emergency Stop) |  | 10 | No | R100, A300 |
| Emergency Stop Engaged |  | 11 | No | D100, D150, R100, W200, A300 |
| Low Battery |  | 12 | No | D100, D150, R100, W200, A300 |
| Driving |  | 13 | Yes | D100, D150, R100, W200, A300 |
| Idle |  | 14 | Yes | D100, D150, R100, W200, A300 |