From ARVP
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[edit] People
Veselin Ganev
[edit] Overview
This sub-project implements a set of reusable functions that are part of the ARVP library and can be used to send commands and queries to the roboteqs and to read data that comes back from them. It can also determine whether the commands being sent were successfully processed by the roboteq.
[edit] Communication
Currently the communication is mostly synchronous (i.e. once a command is sent the program will block until it can verify whether the command was successfully executed or not. This is not ideal and should be modified so that reading of data from the roboteqs is done independently, in such a way that even if we are unable to get response right away we should still be able to send motor commands.
[edit] Progress
- Documentation needs to be worked on
- Each of the thrusters can be driven forward and backwards with any given power setting (in percent)
- The the digital inputs can be read from the roboteqs and the status of the reset switch can be determined from this information
- The roboteqs can be reset whenever the kill switch has been disengaged so that we can continue sending commands to them
- A command schedule has been implemented which allows us to apply a certain amount of power to the thrusters for a given amount of time
- It is possible to update the parameters of that schedule dynamically, without the need to recompile and upload the entire program
