Difference between revisions of "Modules - Command Format"
Jump to navigation
Jump to search
Jgvictores (talk | contribs) |
Jgvictores (talk | contribs) |
||
| (8 intermediate revisions by 2 users not shown) | |||
| Line 2: | Line 2: | ||
{| class="bluetable" style="width:100%" | {| class="bluetable" style="width:100%" | ||
|- | |- | ||
| − | ! align="center" | <div style="font-size:162%; border:none; margin:0; padding:.1em; color:#000;">''' | + | ! align="center" | <div style="font-size:162%; border:none; margin:0; padding:.1em; color:#000;">'''Robot Component Guidelines v0.3''' - Command Format</div> |
|- | |- | ||
| − | | The intention of this standard is to keep internal coherence and compatability with RoboticsLab robot Modules which follow this standard (such as [[Asibot - Implemented Modules]]). It corresponds to [[Modules - | + | | The intention of this standard is to keep internal coherence and compatability with RoboticsLab robot Modules which follow this standard (such as [[Asibot - Implemented Modules]]). It corresponds to [[Modules - Guidelines v0.3|Robot Component Guidelines v0.3]] and replaces [[Modules - Standard v0.1|v0.1]] and [[Modules - Standard v0.2|v0.2]]. It is intended to be a description of module interfaces and data flow representation. Port interface is referred to TCP/UDP/MCAST/SHMEM ''cloud'' side, not CAN or USB (that can coexist in hardware-related modules). A referenced list of implemented modules should also be included. Be sure to check the [[Modules - Dependency Version]] page too. |
|} | |} | ||
| Line 33: | Line 33: | ||
Units: Degrees, Percentage of maximum degrees per second, Amperes | Units: Degrees, Percentage of maximum degrees per second, Amperes | ||
| − | Example Tags: q1, q2, q3, q4, q5 | + | Example Tags: q1 (motor 1), q2 (motor 2), q3 (motor 3), q4 (motor 4), q5 (motor 5)... |
| + | |||
| + | '''<u>Example:</u> Command to /rave_q: 1 q3 45 q2 -45''' moves motor 3 45 degrees and motor 2 -45 | ||
Implemented JMCs: | Implemented JMCs: | ||
| Line 62: | Line 64: | ||
Example Tags: x, y, z, roll, pitch, yaw | Example Tags: x, y, z, roll, pitch, yaw | ||
| + | |||
| + | '''<u>Example:</u> Command to /recursive_z: 1 z -0.1''' | ||
Implemented CMCs: | Implemented CMCs: | ||
| Line 68: | Line 72: | ||
== Human Machine Interfaces (HMI) == | == Human Machine Interfaces (HMI) == | ||
| + | |||
| + | Module: '''hmi_''name''''' | ||
== Sensors (SNS) == | == Sensors (SNS) == | ||
Latest revision as of 18:33, 10 November 2010
Robot Component Guidelines v0.3 - Command Format
|
|---|
| The intention of this standard is to keep internal coherence and compatability with RoboticsLab robot Modules which follow this standard (such as Asibot - Implemented Modules). It corresponds to Robot Component Guidelines v0.3 and replaces v0.1 and v0.2. It is intended to be a description of module interfaces and data flow representation. Port interface is referred to TCP/UDP/MCAST/SHMEM cloud side, not CAN or USB (that can coexist in hardware-related modules). A referenced list of implemented modules should also be included. Be sure to check the Modules - Dependency Version page too. |
Nomenclature: D for double, I for integer, S for string.
Joint Motion Controllers (JMC)
These modules should recieve joint (q) commands. While any q is in movement, a callback should be a set up to be able to receive Stop or Status Poll command. On the other hand, the module should send a message when a command has been performed (w/ info on degree of accomplishment) or stopped.
Module: jmc_name
Port: name_q
In:
- General Stop: "I:-1"
- Status poll: "I:0 (S:verb I:verb=0)"
- Absolute position: "I:1 S:tag1 D:pos1 ... S:tagn D:posn (S:vgen D:vgen=100)"
- Relative position: "I:2 S:tag1 D:pos1 ... S:tagn D:posn (S:vgen D:vgen=100)"
- Velocity: "I:3 S:tag1 D:vel1 ... S:tagn D:veln"
- Force: "I:4 S:tag1 D:amp1 ... S:tagn D:ampn"
- Syncronize: "I:5 S:tag1 D:vel1 ... S:tagn D:veln"
Out:
- General Stop Response: "I:-1 S:tag1 D:pos1 ... S:tagn D:posn"
- Status Response (verb=0): "I:0 S:tag1 D:pos1 ... S:tagn D:posn"
- Status Response (verb=1): "I:0 S:tag1 D:pos1 S:tag1vel D:vel1 S:tag1tar D:tar1 S:tag1stat I:stat1 ...
... S:tagn D:posn S:tagnvel D:veln S:tagntar D:tarn S:tagnstat I:statn"
Units: Degrees, Percentage of maximum degrees per second, Amperes Example Tags: q1 (motor 1), q2 (motor 2), q3 (motor 3), q4 (motor 4), q5 (motor 5)...
Example: Command to /rave_q: 1 q3 45 q2 -45 moves motor 3 45 degrees and motor 2 -45
Implemented JMCs: jmc_rave: A module that instantiates a OpenRAVE kitchen with ASIBOT environment. read more... jmc_can:
Cartesian Motion Controllers (CMC)
Module: cmc_name
Port: name_x
In:
- General Stop: "I:-1"
- Status poll: "I:0 (S:verb I:verb=0)"
- Absolute position (base): "I:1 S:tag1 D:pos1 ... S:tagn D:posn (S:vgen D:vgen=100)"
- Relative position (base): "I:2 S:tag1 D:pos1 ... S:tagn D:posn (S:vgen D:vgen=100)"
- End-effector position: "I:3 S:tag1 D:pos1 ... S:tagn D:posn (S:vgen D:vgen=100)"
- Velocity (base): "I:4 S:tag1 D:vel1 ... S:tagn D:veln"
- Velocity (end-effector): "I:5 S:tag1 D:vel1 ... S:tagn D:veln"
Out:
- General Stop Response: "I:-1 S:tag1 D:pos1 ... S:tagn D:posn"
- Status Response (verb=0): "I:0 S:tag1 D:pos1 ... S:tagn D:posn"
- Status Response (verb=1): "I:0 S:tag1 D:pos1 S:tag1vel D:vel1 S:tag1tar D:tar1 S:tag1stat I:stat1 ...
... S:tagn D:posn S:tagnvel D:veln S:tagntar D:tarn S:tagnstat I:statn"
Example Tags: x, y, z, roll, pitch, yaw
Example: Command to /recursive_z: 1 z -0.1
Implemented CMCs: cmc_recursive: A CMC module based on recursive methods, such as Newton-Raphson. read more...
Human Machine Interfaces (HMI)
Module: hmi_name
Sensors (SNS)
Module: sns_name
Port: name_info In: - Status poll: "I:0" Out: - Status response: "I:0 S:tag1 D:value1 ... S:tagn D:valuen" Example Tags: accX, accY, accZ, gyrX, gyrY, gyrZ, magX, magY, magZ
Implemented SNSs: