From 6abdc9299138fe3b1e4f84605492a9c634b3d088 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Sun, 3 May 2009 12:49:07 +0200 Subject: * digital/io, digital/asserv: - added TWI commands for the elevator. --- digital/io/doc/proto_asserv.txt | 41 +++++++++++++++++++++++++++-------------- 1 file changed, 27 insertions(+), 14 deletions(-) (limited to 'digital/io/doc/proto_asserv.txt') 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. -- cgit v1.2.1