diff options
Diffstat (limited to 'robot/readme.md')
| -rw-r--r-- | robot/readme.md | 49 |
1 files changed, 26 insertions, 23 deletions
diff --git a/robot/readme.md b/robot/readme.md index b27c06f..e6ab294 100644 --- a/robot/readme.md +++ b/robot/readme.md @@ -39,10 +39,15 @@ organizational and form more of a software 'skeleton', while the 'maze' and ┌────────┴───────┐┌─────────┴────────┐┌────────┴─────────┐┌─────┴──────┐ │ Error handling ││ I/O Read & Write ││ PC communication ││ Mode logic │ └────────────────┘└──────────────────┘└──────────────────┘└─────┬──────┘ - ┌──────────┬──────────────┬───────────────┤ - ┌───┴──┐┌──────┴────┐┌────────┴───────┐┌──────┴──────┐ - *modes* -> │ Maze ││ Warehouse ││ Emergency stop ││ Calibration │ - └──────┘└───────────┘└────────────────┘└─────────────┘ + │ + Maze ─┤ + Warehouse ─┤ + Emergency stop ─┤ + *logic modes* -> Line finding ─┤ + Charge station ─┤ + Direct control ─┤ + Wet floor ─┤ + Sensor calibration ─┘ ``` this diagram roughly describes how different parts of the robot software are @@ -64,7 +69,7 @@ what they're supposed to do: |emergency stop |`mode_halt `|may 31|Fiona| stops all execution until emergency mode is reset by software or user| |line finding |`mode_lcal `|may 31|Fiona| find line by turning on own axis if lost| |charge station |`mode_chrg `|may 31|Fiona| go to the charging station transition in the grid, and continue until a black circle is found| -|direct control |`mode_dirc `|may 31|Loek| respond to [DIRC](../protocol.md#DIRC) commands| +|direct control |`mode_dirc `|done|Loek| respond to [DIRC](../protocol.md#DIRC) commands| |wet floor |`mode_spin `|may 31|Fiona| spin uncontrollably (simulating wet floor??)| |sensor calibration|`mode_scal `|may 31|Jorn & Abdullaahi| calibrate underside uv sensors| @@ -72,15 +77,15 @@ what they're supposed to do: this list will probably get updated from time to time: -- modules shouldn't create any global state variables, they should use `static` - variables instead. -- modules are run cyclically, so they shouldn't take more than +- logic modules shouldn't create any global state variables if possible, they + should use `static` variables instead +- logic modules are run cyclically, so they shouldn't take more than `W2_MAX_MODULE_CYCLE_MS` to execute (this is an arbitrary number, and may be - changed). + changed) - documentation comments should follow the [javadoc-style doxygen format](https://wiki.scilab.org/Doxygen%20documentation%20Examples) and be - placed in header (.h) files if possible. this only applies to public members - (e.g. no local variables or module-internal code). + placed in header (.h) files. this only applies to public members (e.g. no + local variables or module-internal code) - code style is mostly handled by `clang-format` and `clang-tidy`, but you should still follow these naming conventions (`<angle brackets>` indicate placeholders): @@ -93,32 +98,30 @@ this list will probably get updated from time to time: |enum|`w2_e_<name>`|`w2_e_errorcodes`; `w2_e_serial_commands`| this again only applies to public members. local variables should still have - short descriptive names, but shouldn't be prefixed with `w2_*`. + short descriptive names, but shouldn't be prefixed with `w2_*` - arbitrary numbers should be aliased to `#define` statements or `enum`s if - part of a series. + part of a series - general constants should be placed in `consts.h` - don't import `<pololu/orangutan.h>` directly, instead use `"orangutan_shim.h"` to keep code compatible with the simulator - don't use `<stdbool.h>`, instead use `"../shared/protocol.h"`. this makes sure that `bool` values are equal to `uint8_t`. they're functionally - identical. + identical ## todo global todo: -- [ ] start robot in calibration mode - [ ] assume robot starts in maze -- [ ] 'crosswalk' transition detection in seperate file (used by grid and maze - mode) +- [ ] 'crosswalk' transition detection and line following in seperate file + (used by grid, maze, and charge mode) - [ ] client software architecture -- [x] mode 'return' buffer -- [x] clear global timer at start of cycle instead of just for mode selection - module (for last ping time measurement) -- [ ] calibrate (line-detecting) light sensors in setup.c, or manually by - placing the robot and pressing a button (maybe make this a seperate mode) -- [ ] create labeled timer functions like nodejs `console.time()` and +- [ ] enter mode_scal by placing the robot on a white surface and pressing a + button +- [x] create labeled timer functions like nodejs `console.time()` and `console.timeEnd()` (use for serial read timeout constraint) +- [x] `serial_parse` doesn't properly handle escaped `0xff` bytes in listen + mode ### hypervisor |