43 lines
1.1 KiB
Markdown
43 lines
1.1 KiB
Markdown
# OLED Display
|
|
|
|
ROS 2 node that renders a live dashboard on the I²C OLED display.
|
|
|
|
---
|
|
|
|
## Dashboard contents
|
|
|
|
- Robot hostname and IP address
|
|
- Ultrasonic range reading
|
|
- Camera pan / tilt angles
|
|
- CPU and memory usage
|
|
|
|
---
|
|
|
|
## Subscribed topics
|
|
|
|
| Topic | Type | Description |
|
|
|---|---|---|
|
|
| `/ultrasonic/range` | `sensor_msgs/Range` | Distance reading from the HC-SR04 sensor |
|
|
| `/joint_states` | `sensor_msgs/JointState` | Current pan/tilt angles |
|
|
|
|
---
|
|
|
|
## Parameters
|
|
|
|
| Parameter | Default | Description |
|
|
|---|---|---|
|
|
| `driver` | `ssd1306` | OLED driver chip: `ssd1306` or `sh1106` |
|
|
| `i2c_port` | `1` | I²C bus number |
|
|
| `i2c_address` | `0x3C` | I²C device address |
|
|
| `width` | `128` | Display width in pixels |
|
|
| `height` | `64` | Display height in pixels |
|
|
| `rotate` | `0` | Display rotation: `0`, `1`, `2`, or `3` (0°/90°/180°/270°) |
|
|
| `refresh_hz` | `2.0` | Display update rate |
|
|
| `data_timeout_s` | `5.0` | Seconds before a stale reading is shown as `---` |
|
|
|
|
---
|
|
|
|
## Hardware
|
|
|
|
The display connects over **I²C bus 1** (`/dev/i2c-1`), the same bus used by the motor controller and servo driver. Default address is `0x3C`.
|