Difference between revisions of "Modules - Standard v0.1"
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− | This | + | '''<u>Important Notice</u>: This standard has been replaced by [[Modules - Standard v0.2]].''' |
+ | Most prominent changes are the use of tags in commands, and dropping _io, _i, _o suffixes. | ||
− | + | The intention of this standard is to keep internal coherence and compatability with RoboticsLab robot Modules which 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 [http://roborepo.uc3m.es/w/index.php/Talk:A_Standard_for_Modules discussion tab]. Port interface is referred to TCP/UDP/MCAST/SHMEM ''cloud'' side, not CAN or USB (that can coexist in hardware-related modules). | |
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− | + | Nomenclature: D for double, I for integer, S for string. | |
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− | == | + | == drivers == |
+ | These modules should recieve joint position commands, in relative and absolute degrees. | ||
+ | Module: drv_''name'' | ||
+ | Ports: ''name''_q_io | ||
+ | - Data: bottle_q_i "I:code D:Q1pos ... D:Q''n''pos D:Qgenvel" | ||
+ | - Data: bottle_q_i "I:code D:Q1vel ... D:Q''n''vel" | ||
+ | - Data: bottle_q_o "I:code D:Q1pos ... D:Q''n''pos" | ||
− | + | Code: | |
− | + | - -1: Stop | |
− | + | - 0: Encoder read | |
− | + | - 1: Relative position with wait | |
− | + | - 2: Absolute position with wait | |
− | + | - 3: Relative position without wait | |
− | + | - 4: Absolute position without wait | |
− | + | - 5: Velocity without wait | |
− | + | - 5''x'': Syncronize motor ''x'' | |
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− | + | * svn co http://roborepo.uc3m.es/svn/ASIBOTcoderepo/trunk/drivers/drv_can | |
− | * | + | <!-- ** TODO: Must adapt to this new standard. --> |
− | * | + | ** TODO: 5: Velocity without wait |
− | * | + | |
+ | |||
+ | * svn co http://roborepo.uc3m.es/svn/ASIBOTcoderepo/trunk/drivers/drv_marilou | ||
+ | <!-- ** TODO: Must adapt to this new standard. --> | ||
+ | |||
+ | == dynamics == | ||
+ | Module: dyn_''name'' | ||
+ | Ports: | ||
+ | |||
+ | == hmi == | ||
+ | This groups GUIs, voice recognition modules... | ||
+ | Module: hmi_''name'' | ||
+ | Ports: ''any input and output from other modules'' | ||
+ | |||
+ | * svn co http://roborepo.uc3m.es/svn/ASIBOTcoderepo/trunk/hmi/hmi_3d | ||
+ | ** TODO: Must adapt to this new standard. | ||
+ | |||
+ | == kinematics/trajectory == | ||
+ | This module should be able to take the description from a file and generate joint solutions for proposed cartesian goal. | ||
+ | Module: kin/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:Q''n''pos D:Qgenvel" | ||
+ | - Data: bottle_q_o "I:code D:Q1vel ... D:Q''n''vel" | ||
+ | - 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 | ||
+ | |||
+ | * svn co http://roborepo.uc3m.es/svn/ASIBOTcoderepo/trunk/kinematics/kin_pos_based | ||
+ | <!-- ** TODO: Must adapt to this new standard. --> | ||
+ | |||
+ | == planning == | ||
+ | Module: pln_''name'' | ||
+ | Ports: | ||
+ | |||
+ | == stabilizer == | ||
+ | Module: stb_''name'' | ||
+ | Ports: | ||
+ | |||
+ | == tools == | ||
+ | Module: tol_''name'' | ||
+ | Ports: | ||
+ | |||
+ | * svn co http://roborepo.uc3m.es/svn/ASIBOTcoderepo/trunk/tools/tol_file | ||
+ | <!-- ** TODO: Must adapt to this new standard. --> | ||
+ | |||
+ | == 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" |
Latest revision as of 10:20, 2 June 2010
Important Notice: This standard has been replaced by Modules - Standard v0.2. Most prominent changes are the use of tags in commands, and dropping _io, _i, _o suffixes.
The intention of this standard is to keep internal coherence and compatability with RoboticsLab robot Modules which 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).
Nomenclature: D for double, I for integer, S for string.
drivers
These modules should recieve joint position commands, in relative and absolute degrees.
Module: drv_name Ports: name_q_io - Data: bottle_q_i "I:code D:Q1pos ... D:Qnpos D:Qgenvel" - Data: bottle_q_i "I:code D:Q1vel ... D:Qnvel" - Data: bottle_q_o "I:code D:Q1pos ... D:Qnpos"
Code: - -1: Stop - 0: Encoder read - 1: Relative position with wait - 2: Absolute position with wait - 3: Relative position without wait - 4: Absolute position without wait - 5: Velocity without wait - 5x: Syncronize motor x
- svn co http://roborepo.uc3m.es/svn/ASIBOTcoderepo/trunk/drivers/drv_can
- TODO: 5: Velocity without wait
dynamics
Module: dyn_name Ports:
hmi
This groups GUIs, voice recognition modules...
Module: hmi_name Ports: any input and output from other modules
- svn co http://roborepo.uc3m.es/svn/ASIBOTcoderepo/trunk/hmi/hmi_3d
- TODO: Must adapt to this new standard.
kinematics/trajectory
This module should be able to take the description from a file and generate joint solutions for proposed cartesian goal.
Module: kin/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"