Difference between revisions of "Modules - Command Format"
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| Line 17: | Line 17: | ||
In: | In: | ||
| − | - Stop: "I:-1" | + | - Stop: "I:-1" |
| − | - Status poll: "I:0" | + | - Status poll: "I:0" |
| − | - Absolute position: "I:1 S:tag1 D:Q1pos ... S:tag''n'' D:Q''n''pos D:Qgenvel" | + | - Absolute position: "I:1 S:tag1 D:Q1pos ... S:tag''n'' D:Q''n''pos D:Qgenvel" |
| − | - Relative position: "I:2 S:tag1 D:Q1pos ... S:tag''n'' D:Q''n''pos D:Qgenvel" | + | - Relative position: "I:2 S:tag1 D:Q1pos ... S:tag''n'' D:Q''n''pos D:Qgenvel" |
| − | - Velocity: "I:3 S:tag1 D:Q1vel ... S:tag''n'' D:Q''n''vel" | + | - Velocity: "I:3 S:tag1 D:Q1vel ... S:tag''n'' D:Q''n''vel" |
| − | - Force: "I:4 S:tag1 D:Q1amp ... S:tag''n'' D:Q''n''amp" | + | - Force: "I:4 S:tag1 D:Q1amp ... S:tag''n'' D:Q''n''amp" |
| − | - Syncronize: "I:5 S:tag1 D:Q1vel ... S:tag''n'' D:Q''n''vel" | + | - Syncronize: "I:5 S:tag1 D:Q1vel ... S:tag''n'' D:Q''n''vel" |
Out: | Out: | ||
| − | - Status Response: "I:stat D:Q1pos ... D:Q''n''pos" | + | - Status Response: "I:stat D:Q1pos ... D:Q''n''pos" |
| − | Units: Degrees, Percentage | + | Units: Degrees, Percentage of maximum degrees per second, Amperes |
| − | Tags: q1, q2, ..., q''n''. | + | Example Tags: q1, q2, ..., q''n''. |
Implemented JMCs: | Implemented JMCs: | ||
Revision as of 17:20, 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" - Status poll: "I:0" - Absolute position: "I:1 S:tag1 D:Q1pos ... S:tagn D:Qnpos D:Qgenvel" - Relative position: "I:2 S:tag1 D:Q1pos ... S:tagn D:Qnpos D:Qgenvel" - Velocity: "I:3 S:tag1 D:Q1vel ... S:tagn D:Qnvel" - Force: "I:4 S:tag1 D:Q1amp ... S:tagn D:Qnamp" - Syncronize: "I:5 S:tag1 D:Q1vel ... S:tagn D:Qnvel" Out: - Status Response: "I:stat D:Q1pos ... D:Qnpos" Units: Degrees, Percentage of maximum degrees per second, Amperes Example 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: