Modules - Standard v0.1

Important Notice: This standard has been replaced by Modules - Standard v0.2.
Most prominent changes are the use of tags in commands.

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

• svn co http://roborepo.uc3m.es/svn/ASIBOTcoderepo/trunk/drivers/drv_marilou

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

• svn co http://roborepo.uc3m.es/svn/ASIBOTcoderepo/trunk/kinematics/kin_pos_based

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

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"