Difference between revisions of "Modules - Command Format"
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== Cartesian Motion Controllers (CMC) == | == Cartesian Motion Controllers (CMC) == | ||
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| + | Module: '''cmc_''name''''' | ||
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| + | Port: '''''name''_x''' | ||
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| + | In: | ||
| + | - Stop: "I:-1" (bottle_q_i) | ||
| + | - Status poll: "I:0" (bottle_q_i) | ||
| + | - Absolute position (base): "I:1 S:tag1 D:pos1 ... S:tag''n'' D:Q''n''pos D:Qgenvel" (bottle_q_i) | ||
| + | - Relative position (base): "I:2 S:tag1 D:pos1 ... S:tag''n'' D:Q''n''pos D:Qgenvel" (bottle_q_i) | ||
| + | - End-effector position: | ||
Revision as of 17:19, 9 June 2010
Module Standard v0.3 - Command Format
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| 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 Module Standard 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: - 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) - Force: "I:4 S:tag1 D:Q1amp ... S:tagn D:Qnamp" (bottle_q_i) - Syncronize: "I:5 S:tag1 D:Q1vel ... S:tagn D:Qnvel" (bottle_q_i) Out: - Status Response: "I:stat D:Q1pos ... D:Qnpos" (bottle_q_o) Units: Degrees, Percentage based on max degrees per second, ¿¿N/m or A??. Tags: q1, q2, ..., qn.
Implemented JMCs: jmc_rave: A module that instantiates a OpenRAVE kitchen with ASIBOT environment. read more...
Cartesian Motion Controllers (CMC)
Module: cmc_name
Port: name_x In: - Stop: "I:-1" (bottle_q_i) - Status poll: "I:0" (bottle_q_i) - Absolute position (base): "I:1 S:tag1 D:pos1 ... S:tagn D:Qnpos D:Qgenvel" (bottle_q_i) - Relative position (base): "I:2 S:tag1 D:pos1 ... S:tagn D:Qnpos D:Qgenvel" (bottle_q_i) - End-effector position: