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-rw-r--r--digital/io/doc/proto_asserv.txt36
1 files changed, 17 insertions, 19 deletions
diff --git a/digital/io/doc/proto_asserv.txt b/digital/io/doc/proto_asserv.txt
index 9fcf9808..259b0905 100644
--- a/digital/io/doc/proto_asserv.txt
+++ b/digital/io/doc/proto_asserv.txt
@@ -95,22 +95,20 @@ This table describe the list of supported commands by the *asserv* card:
| | | - y (3b) | absolute angle, backward movement |
| | | - a (2b) | allowed |
+---------+-------+-----------------+------------------------------------------+
-| 'b' | Arm | - position (2b) | Move the arm to a desired position |
+| 'b' | Mot0 | - position (2b) | Move the motor0 to a desired position |
| | | - speed (1b) | at a specific speed |
-| | | | - position: 250 * 4 * 80 / 15 steps by |
-| | | | round |
+| | | | - position: x steps by x |
| | | | - speed: in step by cycle (4.44ms) |
+---------+-------+-----------------+------------------------------------------+
-| 'B' | Arm | - speed (1b) | Find the zero position of the arm |
+| 'B' | Mot0 | - speed (1b) | Find the zero position of the motor0 |
| | | | - speed: in step by cycle (4.44ms) |
-| | | | Offset for mechanical zero is 0x43e |
+---------+-------+-----------------+------------------------------------------+
-| 'c' | Elvt | - position (2b) | Move the elevator to a desired position |
+| 'c' | Mot1 | - position (2b) | Move the motor1 to a desired position |
| | | - speed (1b) | at a specific speed |
-| | | | - position: 72.34 steps by mm |
+| | | | - position: x steps by x |
| | | | - speed: in step by cycle (4.44ms) |
+---------+-------+-----------------+------------------------------------------+
-| 'C' | Elvt | - speed (1b) | Find the zero position of the elevator |
+| 'C' | Mot1 | - speed (1b) | Find the zero position of the motor1 |
| | | | - speed: in step by cycle (4.44ms) |
+---------+-------+-----------------+------------------------------------------+
| 'p' | Other | See next table | Change setting values |
@@ -148,21 +146,21 @@ 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, its arm and elevator.
+the current position (X, Y, alpha) of the bot and its motors.
The buffer is a static 12 bytes length one::
- 0 1 2 3 .. 5 6 .. 8 9 10 11 12 13 14 <-- byte position
- +--------+------+-----+- - - -+- - - -+-------+---------+----------+
- | status | PINC | seq | X pos | Y pos | angle | arm pos | elevator |
- +--------+------+-----+- - - -+- - - -+-------+---------+----------+
+ 0 1 2 3 .. 5 6 .. 8 9 10 11 12 13 14 <-- byte position
+ +--------+------+-----+- - - -+- - - -+-------+----------+----------+
+ | status | PINC | seq | X pos | Y pos | angle | mot0 pos | mot1 pos |
+ +--------+------+-----+- - - -+- - - -+-------+----------+----------+
Status value
------------
-Status contains flag bit to know the status of movement and arm commands: if
-they have finished with success or with an error (i.e. blocked).
+Status contains flag bit to know the status of movement and motors commands:
+if they have finished with success or with an error (i.e. blocked).
Here is a list of the bits used and their definitions:
@@ -176,13 +174,13 @@ Here is a list of the bits used and their definitions:
3. Movement is going backward: the current linear speed is smaller than 0
(BCK);
- 4. Arm movement finished with success (AF);
+ 4. Motor0 movement finished with success (A0F);
- 5. Arm movement finished with failure: it should not happen (AB);
+ 5. Motor0 movement finished with failure: it should not happen (A0B);
- 6. Elevator movement finished with success (EF);
+ 6. Motor1 movement finished with success (A1F);
- 7. Elevator movement finished with failure: it should not happen (EB).
+ 7. Motor1 movement finished with failure: it should not happen (A1B).
The others bits are unused.