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/Makefile | 11 ----------- digital/io/doc/getSamplesFsm.dot | 11 ----------- digital/io/doc/loadBall.dot | 8 -------- digital/io/doc/mainFsm.dot | 16 ---------------- digital/io/doc/move.dot | 19 ------------------- digital/io/doc/proto_asserv.txt | 36 +++++++++++++++++------------------- digital/io/doc/stdContenerFsm.dot | 10 ---------- 7 files changed, 17 insertions(+), 94 deletions(-) delete mode 100644 digital/io/doc/Makefile delete mode 100644 digital/io/doc/getSamplesFsm.dot delete mode 100644 digital/io/doc/loadBall.dot delete mode 100644 digital/io/doc/mainFsm.dot delete mode 100644 digital/io/doc/move.dot delete mode 100644 digital/io/doc/stdContenerFsm.dot (limited to 'digital/io/doc') diff --git a/digital/io/doc/Makefile b/digital/io/doc/Makefile deleted file mode 100644 index 3f03f686..00000000 --- a/digital/io/doc/Makefile +++ /dev/null @@ -1,11 +0,0 @@ -DOT = mainFsm.dot loadBall.dot getSamplesFsm.dot stdContenerFsm.dot move.dot - -PNG = $(DOT:%.dot=%.png) - -all: $(PNG) - -%.png: %.dot - dot -Tpng -o $@ $< - -clean: - rm -f $(PNG) diff --git a/digital/io/doc/getSamplesFsm.dot b/digital/io/doc/getSamplesFsm.dot deleted file mode 100644 index e53badbd..00000000 --- a/digital/io/doc/getSamplesFsm.dot +++ /dev/null @@ -1,11 +0,0 @@ -/* IO.avr module. Get Samples Final State Machine */ -digraph GetSamplesFsm -{ - node [color=lightblue2, style=filled]; - "Go to position" -> "Prepare Arm for ditributor" [label = "Position reached"]; - "Prepare Arm for ditributor" -> "Forward controled" [label = "Harm prepared"]; - "Forward controled" -> "Prepare classifier" [label = "Ready to peek samples"]; - "Prepare classifier" -> "loadballs" [label = "Classifier prepared"]; - "loadballs" -> "Continue classifier" [label = "balls loaded"]; - "Continue classifier" -> End [label = "Classification ended"]; -} diff --git a/digital/io/doc/loadBall.dot b/digital/io/doc/loadBall.dot deleted file mode 100644 index 3ce6ae93..00000000 --- a/digital/io/doc/loadBall.dot +++ /dev/null @@ -1,8 +0,0 @@ -/* IO.avr module. Charge balls Final State Machine */ -digraph loadBallFsm -{ - node [color=lightblue2, style=filled]; - "Rotate arm" -> "Go backward" [label = "desired balls loaded"]; - "Go backward" -> "Stop arm" [label = "Poisition reached"]; - "Stop arm" -> End [label = "arm stopped\narm at init position"]; -} diff --git a/digital/io/doc/mainFsm.dot b/digital/io/doc/mainFsm.dot deleted file mode 100644 index 796947a2..00000000 --- a/digital/io/doc/mainFsm.dot +++ /dev/null @@ -1,16 +0,0 @@ -/* IO.avr module. Main Final State Machine */ -digraph mainFsm -{ - node [color=lightblue2, style=filled]; - start -> "get samples" [label = "1"]; - "get samples" -> "get ice" [label = "Samples took"]; - "get ice" -> "Go to goal" [label = "Ice took"]; - "Go to goal" -> "get samples" [label = "Samples deposed"]; - - "get samples" -> "Go to goal" [label = "Samples took\n and ice distributor empty\n and not enough time"]; - "Go to goal" -> "get adv ice" [label = "Sample deposed\n and ice distributor empty"]; - "get adv ice" -> "get samples" [label = "Ice took"]; - "get samples" -> "get adv ice" [label = "Sample took and\n ice distributor empty\n and enough time"]; - "get adv ice" -> "Go to goal" [label = "Ice took\nCollector full"]; - "get samples" -> "Go to goal" [label = "Collector full"]; -} diff --git a/digital/io/doc/move.dot b/digital/io/doc/move.dot deleted file mode 100644 index 21f03398..00000000 --- a/digital/io/doc/move.dot +++ /dev/null @@ -1,19 +0,0 @@ -# Try to reach a position, this digram shall provide an start of solution when -# the robot is blocked or a when the robot has a obstacle in front of it. - -digraph move -{ - start -> "desired position" [label = "ok"]; - "desired position" -> end [label = "reached"]; - "desired position" -> "move on left" [label = "failed or blocked\n border left is far"]; - "desired position" -> "move on right" [label = "failed or blocked\n border right is far"]; - - "move on left" -> "move on left" [label = "failed or blocked"]; - "move on left" -> "desired position" [label = "reached"]; - - "move on right" -> "move on right" [label = "failed or blocked"]; - "move on right" -> "desired position" [label = "reached"]; - - "move on right" -> "move on left" [label = "near right border"]; - "move on left" -> "move on right" [label = "near left border"]; -} 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. diff --git a/digital/io/doc/stdContenerFsm.dot b/digital/io/doc/stdContenerFsm.dot deleted file mode 100644 index 2ec2309f..00000000 --- a/digital/io/doc/stdContenerFsm.dot +++ /dev/null @@ -1,10 +0,0 @@ -/* IO.avr module. Chute Final State Machine */ -digraph StdContenerFsm -{ - node [color=lightblue2, style=filled]; - "Go to std contener" -> "Go to the wall backward" [label = "Near the std contener."]; - "Go to the wall backward" -> "Open std contener" [label = "On the wall"]; - "Open std contener" -> "Wait fixed time" [label = "std contener opened"]; - "Wait fixed time" -> "Close std contener" [label = "Time out"]; - "Close std contener" -> End [label = "std contener closed"]; -} -- cgit v1.2.3