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authorNicolas Schodet2010-04-01 23:57:20 +0200
committerNicolas Schodet2010-04-01 23:57:20 +0200
commit80b3da91dac28a5895a8cb9f0477a7008365dd56 (patch)
treec1f0f544676df83c81ed185fa90f1e832be8dabb /digital/io/doc
parent811125a12c40ab0d7d90da8da2142c382a7301cc (diff)
digital/io: wipe-out old robot code, closes #112
Diffstat (limited to 'digital/io/doc')
-rw-r--r--digital/io/doc/Makefile11
-rw-r--r--digital/io/doc/getSamplesFsm.dot11
-rw-r--r--digital/io/doc/loadBall.dot8
-rw-r--r--digital/io/doc/mainFsm.dot16
-rw-r--r--digital/io/doc/move.dot19
-rw-r--r--digital/io/doc/proto_asserv.txt36
-rw-r--r--digital/io/doc/stdContenerFsm.dot10
7 files changed, 17 insertions, 94 deletions
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"];
-}