Subject:
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RE: RCX & RIS, a fading glory?
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Newsgroups:
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lugnet.robotics
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Date:
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Thu, 6 Feb 2003 15:11:32 GMT
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Original-From:
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"Marco Correia" <Marco.Correia@soporcel.pt>
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Reply-To:
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<MARCO.CORREIA@spamcakeSOPORCEL.PT>
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Viewed:
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564 times
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> -----Original Message-----> Andrew J. Huang
> One way to do location aware is to make every bus
> brick a network node and source-route packets
> between the device and the RCX. Then, you write
> your programs based on location. For example you
> create a packet that specifies a 10 revolution CCW
> rotation and send it:
> - down the neck-link,
> - out the first right appendage link,
> - past the rotator cuff node,
> - past the elbow-joint node
> - number 1 in the daisy chain
> This would then pull/release a pair of tendons
> that would un-grasp the thumb.
hmmm... I prefer the method using a High_Level map in the source code or as
a .h file
/////////////////////////////////////////
#IFDEF _TWINROBOTA_
#INCLUDE 'TwinRobotA_devmap.h'
#ENDIF
#IFDEF _TWINROBOTB_
#INCLUDE 'TwinRobotB_devmap.h'
#ENDIF
#IFDEF _TWINROBOTC_
#INCLUDE 'TwinRobotC_devmap.h'
#ENDIF
//ELSE
// compiler will stop with an error like
// "RightHand_Finger1 device unkown !"
//...
OnFor(10,RightHand_Finger1);
OnFor(10,RightHand_Finger2);
OnFor(10,RightHand_Finger4);
//...
//send to rotation sensor+stepper motor
//a "rotate Neck to a 45 degree position"
OnToDegrees(45,NeckServo)
//...
/////////////////////////////////////////
rather than refering to a device with something like:
/////////////////////////////////////////
//...
OnFor(10,'\down the neck-link\out the first right appendage link\past the
rotator cuff node\past the elbow-joint node\number 1 in the daisy chain');
OnFor(10,'\down the neck-link\out the first right appendage link\past the
rotator cuff node\past the elbow-joint node\number 2 in the daisy chain');
OnFor(10,'\down the neck-link\out the first right appendage link\past the
rotator cuff node\past the elbow-joint node\number 4 in the daisy chain');
//...
//send to rotation sensor+stepper motor
//a "rotate Neck to a 45 degree position"
OnToDegrees(45,'\neck base')//...
/////////////////////////////////////////
...even if something like the following could be used:
/////////////////////////////////////////
//...
SetCurrentDeviceNode('\down the neck-link\out the first right appendage
link\past the rotator cuff node\past the elbow-joint node');
OnFor(10,'number 1 in the daisy chain');
OnFor(10,'number 2 in the daisy chain');
OnFor(10,'number 4 in the daisy chain');
//...
//send to rotation sensor+stepper motor
//a "rotate Neck to a 45 degree position"
OnToDegrees(45,'\neck base')//...
//...
/////////////////////////////////////////
mc.
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Message has 1 Reply:
 | | RE: RCX & RIS, a fading glory?
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| Marco thought: (...) map in the (...) From a code writing point of view, defining macros that identify the motor is much nicer than having to list out the path to the motor. However, when you have to replace a dodgy motor on an individual, you'll (...) (21 years ago, 6-Feb-03, to lugnet.robotics)
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Message is in Reply To:
| | RE: RCX & RIS, a fading glory?
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| Marco, Yes, I agree that logical mappings will help the problem. But consider this example: You have motors with the friendly names of motor1.. motor20 You write a program and specify the associations: left arm = motor1, right=motor2, etc. I believe (...) (21 years ago, 4-Feb-03, to lugnet.robotics)
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