From 80b3da91dac28a5895a8cb9f0477a7008365dd56 Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Thu, 1 Apr 2010 23:57:20 +0200 Subject: digital/io: wipe-out old robot code, closes #112 --- digital/io/doc/proto_asserv.txt | 36 +++++++++++++++++------------------- 1 file changed, 17 insertions(+), 19 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 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. -- cgit v1.2.1