# 第n回 mcl会議

## 通信するデータ
- can
- uart
- gpio
- encoder
- switch
- led
- emgsw
- buzzer

### UART
- init : [port,baudrate]
- port : uint 32
- baudrate : uint 32
- mb -> pc : [rx_data,port]
- rx_data: bytes
- port : uint32_t
- pc -> mb
- tx_data: bytes
- port : uint32_t

### RotarySwitch
uint32_t

### Push*2
bool[2]

### LED*4
bool[4]

### EmgSw
- pc->mb
bool
- mb->pc
bool

### Encoder
- init
- port: uint32_t[n]
- mb->pc
- pulse: int32_t
- sum : int32_t

### GPIO
- init
- mode : uint32_t[7]

- mb->pc (input)
- port: uint32_t
- value: uint32_t

- pc->mb (output)
- port: uint32_t
- value: uint32_t

### CAN
- init
- RXCANID : uint32[n] * 2
- mb -> pc
- rx_data: bytes
- RXCANID : uint32
- pc -> mb
- tx_data: bytes
- RXCANID : uint32

## Lighting
- Voltage
- tx
- voltage ; int16
- Current
- init
- mode
- pulse_ratio
- current_sensor
- pid parameter
- observer parameter
- rx
- pulse
- pulse_sum/pulse_ratio
- current
- voltage
- tx
- current ; int16
- Position
- current sensor
- pid parameter
- observer parameter
- Velocity
- current sensor
- pid parameter
- observer parameter