Difference between revisions of "Modules - Standard v0.2"
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== dynamics == | == dynamics == |
Revision as of 19:01, 24 March 2010
The intention of this standard is to keep internal coherence and compatability with RoboticsLab robot modules who follow this standard. It is intended to be a description of existing and future modules, their interfaces and data flow representation. For a debate on open issues, go to the discussion tab. Port interface is referred to TCP/UDP/MCAST/SHMEM cloud side, not CAN or USB (that can coexist in hardware-related modules). Current dependencies are on YARP 2.2.6 compiled with ACE 5.7.1.0.
Nomenclature: D for double, I for integer, S for string.
drivers
These modules should recieve joint (q) commands. When a q is in movement, a callback should be a set up to be able to receive Stop 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: drv_name Ports: name_q
In: - Stop: "I:-1" (bottle_q_i) - Status poll: "I:0" (bottle_q_i) - Absolute position: "I:1 S:tag1 D:Q1pos ... S:tagn D:Qnpos D:Qgenvel" (bottle_q_i) - Relative position: "I:2 S:tag1 D:Q1pos ... S:tagn D:Qnpos D:Qgenvel" (bottle_q_i) - Velocity: "I:3 S:tag1 D:Q1vel ... S:tagn D:Qnvel" (bottle_q_i) - Syncronize: "I:4 I:motor" (bottle_q_i) Out: - Status response: "I:code D:Q1pos ... D:Qnpos" (bottle_q_o)
Units: Degrees, ¿¿Degrees per second??, ¿¿N/m??.
dynamics
Module: dyn_name Ports:
hmi
This groups GUIs, voice recognition modules...
Module: hmi_name Ports: any input and output from other modules
trajectory
This module should be able to take the description from a file and generate joint solutions for proposed cartesian goal.
Module: trj_name Port: name_xi_io - Data: bottle_xi_io "I:code D:X D:Y D:Z D:ROLL D:PITCH D:YAW D:genvel" Port: name_q_io - Data: bottle_q_o "I:code D:Q1pos ... D:Qnpos D:Qgenvel" - Data: bottle_q_o "I:code D:Q1vel ... D:Qnvel" - Data: bottle_q_i "I:code D:Q1pos ... D:Qnpos"
Code: - 10: Read absolute position, base coordinate - 11: Absolute position with wait, base coordinate - 12: Relative position with wait, base coordinate - 13: Relative position with wait, tool coordinate - 14: Absolute position without wait, base coordinate - 15: Relative position without wait, base coordinate - 16: Relative position without wait, tool coordinate
planning
Module: pln_name Ports:
stabilizer
Module: stb_name Ports:
tools
Module: tol_name Ports:
vision
The output of this module is a cartesian goal (derived from a distance and orientation).
Module: vis_name Ports: name_xg_o - Data: bottle_xg_o "D:X D:Y D:Z D:ROLL D:PITCH D:YAW"