Modules - Standard v0.2
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).
Nomenclature: D for double, I for integer, S for string.
drivers
These modules should recieve joint commands.
Module: drv_name Ports: name_q_io - Data: bottle_q_i "I:code S:tag1 D:Q1pos ... S:tagn D:Qnpos D:Qgenvel" - Data: bottle_q_i "I:code D:Q1vel ... D:Qnvel" - Data: bottle_q_o "I:code D:Q1pos ... D:Qnpos" - Data: bottle_q_o "I:code I:Q_to_sync"
Units: degrees, ¿¿degrees per second??.
I:code: - -1: Stop - 0: Encoder read - 1: Absolute position - 2: Relative position - 3: Velocity - 4: Syncronize motor
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"