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authorNicolas Schodet2009-05-03 12:49:07 +0200
committerNicolas Schodet2009-05-03 12:49:07 +0200
commit6abdc9299138fe3b1e4f84605492a9c634b3d088 (patch)
treea31e8c2dc338094af3cfd06b9f3cf3bdef6ec1bb /digital/io/doc
parentfc3ef76830b2f8b848dda938ec8670dd4d8ad730 (diff)
* digital/io, digital/asserv:
- added TWI commands for the elevator.
Diffstat (limited to 'digital/io/doc')
-rw-r--r--digital/io/doc/proto_asserv.txt41
1 files changed, 27 insertions, 14 deletions
diff --git a/digital/io/doc/proto_asserv.txt b/digital/io/doc/proto_asserv.txt
index dd78003c..391950dd 100644
--- a/digital/io/doc/proto_asserv.txt
+++ b/digital/io/doc/proto_asserv.txt
@@ -92,10 +92,20 @@ This table describe the list of supported commands by the *asserv* card:
+---------+-------+-----------------+------------------------------------------+
| 'b' | Arm | - position (2b) | Move the arm to a desired position |
| | | - speed (1b) | at a specific speed |
-| | | | - position: 5000 steps by round |
+| | | | - position: 250 * 4 * 80 / 15 steps by |
+| | | | round |
| | | | - speed: in step by cycle (4.44ms) |
+---------+-------+-----------------+------------------------------------------+
-| 'B' | arm | None | Find the zero position of the arm |
+| 'B' | Arm | - speed (1b) | Find the zero position of the arm |
+| | | | - speed: in step by cycle (4.44ms) |
++---------+-------+-----------------+------------------------------------------+
+| 'c' | Elvt | - position (2b) | Move the elevator to a desired position |
+| | | - speed (1b) | at a specific speed |
+| | | | - position: 72.34 steps by mm |
+| | | | - speed: in step by cycle (4.44ms) |
++---------+-------+-----------------+------------------------------------------+
+| 'C' | Elvt | - speed (1b) | Find the zero position of the elevator |
+| | | | - speed: in step by cycle (4.44ms) |
+---------+-------+-----------------+------------------------------------------+
| 'p' | Other | See next table | Change setting values |
+---------+-------+-----------------+------------------------------------------+
@@ -132,14 +142,14 @@ card.
It is used to know if the last command sent by the *io* card is currently
executed, is finished or has failed (i.e. we are blocked) and also to retreive
-the current position (X, Y, alpha) of the bot and its arm.
+the current position (X, Y, alpha) of the bot, its arm and elevator.
The buffer is a static 12 bytes length one::
- 0 1 2 .. 4 5 .. 7 8 9 10 11 <-- byte position
- +--------+--------+- - - -+- - - -+- - - - -+- - - - -+
- | status | seq | X pos | Y pos | angle | arm pos |
- +--------+--------+- - - -+- - - -+- - - - -+- - - - -+
+ 0 1 2 .. 4 5 .. 7 8 9 10 11 12 13 <-- byte position
+ +--------+--------+- - - -+- - - -+-------+---------+----------+
+ | status | seq | X pos | Y pos | angle | arm pos | elevator |
+ +--------+--------+- - - -+- - - -+-------+---------+----------+
Status value
@@ -154,16 +164,19 @@ Here is a list of the bits used and their definitions:
1. Movement finished with failure: the bot is blocked (MB);
- 2. Arm movement finished with success (AF);
+ 2. Movement is going forward: the current linear speed is greater than 0
+ (FWD);
+
+ 3. Movement is going backward: the current linear speed is smaller than 0
+ (BCK);
+
+ 4. Arm movement finished with success (AF);
- 3. Arm movement finished with failure: it should not happen, but we are not
- sure yet (AB).
+ 5. Arm movement finished with failure: it should not happen (AB);
- 4. Movement is going forward: the current linear speed is greater than 0
- (FWD) ;
+ 6. Elevator movement finished with success (EF);
- 5. Movement is going backward: the current linear speed is smaller than 0
- (BCK) ;
+ 7. Elevator movement finished with failure: it should not happen (EB).
The others bits are unused.