Differences

This shows you the differences between two versions of the page.

--- getting_started:tutorials:mockrobot [2019/03/28 12:30] – [Sequencer] graf
+++ getting_started:tutorials:mockrobot [2021/03/31 17:45] (current) – [Safety System] ursgraf
@@ Line 1: / Line 1: @@
 ====== Mock Robot Example ======
-This tutorial demonstrates an EEROS application complete with a control system, a safety system, and a sequencer. You can find the code in the directory with examples. Navigate to examples/mockRobotExample.
+This tutorial demonstrates an EEROS application complete with a control system, a safety system, and a sequencer. You can find the code under [[https://github.com/eeros-project/eeros-framework/blob/master/examples/system/MockRobotExample.cpp|MockRobotExample.cpp]].
+Start the program with
+<code cpp>
+$ sudo ./examples/system/mockRobotExample
+</code>
 ===== The Full Picture =====
 This example does not need any hardware. The moving of a robot is pretended by using integrators summing up. This represents the position on an axis. Before a robot can be moved it has usually to be homed.
-The main application defines a control system and a safety system. The safety system is assigned as main task and passed to the executor. Further, a main sequence is defined and added to the sequencer ans started. After this the executor starts running.
+The main application defines a control system and a safety system. The safety system is assigned as main task and passed to the executor. Further, a main sequence is defined and added to the sequencer and started. After this the executor starts running.
 <code cpp>
@@ Line 21: / Line 26: @@
   MainSequence mainSeq("Main Sequence", sequencer, cs, ss, sp);
   sequencer.addSequence(mainSeq);
-  mainSeq.start();
+  mainSeq();
   ...
@@ Line 43: / Line 48: @@
 ===== Safety System =====
 The safety system has four levels and a couple of safety events to switch between these levels.
-[{{ :getting_started:tutorials:mockrobotsafetysystem.png?400 |//Safety system with levels and events.//}}]
+[{{ :getting_started:tutorials:mockrobotss.jpg?220 |//Safety system with levels and events.//}}]
 The event ''abort'' can be triggered in all levels except ''slOff''. The safety system starts in the level ''slHoming''. As soon as the homing is complete the safety level switches to ''slReady''. The sequencer can then cause the safety system to change to level ''slMoving''.
@@ Line 55: / Line 60: @@
       } else if(ss.getCurrentLevel() == sp.slReady) {
         wait(2);
+        cs.sw.switchToInput(1);
         ss.triggerEvent(sp.startMoving);
       } else if(ss.getCurrentLevel() == sp.slMoving) {
@@ Line 61: / Line 67: @@
       wait(0.1);
     }
+    return 0;
   }
 </code>
@@ Line 73: / Line 80: @@
   int action() {
-    cs.setpointX.setValue(0.1);
+    cs.setpoint.setValue({0.1, 0.1});
-    cs.setpointY.setValue(0.1);
   }
   bool checkExitCondition() {
-  bool done = cs.iX.getOut().getSignal().getValue() >= 1.0 && cs.iY.getOut().getSignal().getValue() >= 1.0;
+    Matrix<2,1,double> val = cs.i.getOut().getSignal().getValue();
-    if (cs.iX.getOut().getSignal().getValue() >= 1.0) cs.setpointX.setValue(0);
+    bool done = val[0] >= 1.0 && val[1] >= 1.0;
-    if (cs.iY.getOut().getSignal().getValue() >= 1.0) cs.setpointY.setValue(0);
+    if (val[0] >= 1.0) cs.setpoint.setValue({0, cs.setpoint.getValue()[1]});
+    if (val[1] >= 1.0) cs.setpoint.setValue({cs.setpoint.getValue()[0], 0});
     if (done) ss.triggerEvent(sp.homingDone);
     return done;
   }
-private:
   MockRobotControlSystem& cs;
+  SafetySystem& ss;
+  MockRobotSafetyProperties& sp;
 };
 </code>
@@ Line 96: / Line 104: @@
   MoveUp(std::string name, Sequence* caller, MockRobotControlSystem& cs) : Step(name, caller), cs(cs) { }
   int action() {
-    cs.setpointX.setValue(0.7);
+    Matrix<2,1,double> dest{8.2, 27.0};
-    cs.setpointY.setValue(0.3);
+    cs.pp.move(dest);
+    return 0;
   }
-  bool checkExitCondition() {return cs.iX.getOut().getSignal().getValue() >= 5.0;}
+  bool checkExitCondition() {return cs.pp.endReached();}
-private:
   MockRobotControlSystem& cs;
 };
@@ Line 108: / Line 116: @@
   MoveDown(std::string name, Sequence* caller, MockRobotControlSystem& cs) : Step(name, caller), cs(cs) { }
   int action() {
-    cs.setpointX.setValue(-0.6);
+    Matrix<2,1,double> dest{-5, 3};
-    cs.setpointY.setValue(-0.3);
+    cs.pp.move(dest);
+    return 0;
   }
-  bool checkExitCondition() {return cs.iX.getOut().getSignal().getValue() <= -5.0;}
+  bool checkExitCondition() {return cs.pp.endReached();}
-private:
   MockRobotControlSystem& cs;
 };
@@ Line 128: / Line 136: @@
         moveDown();
       }
+      return 0;
     }
-private:
   MoveUp moveUp;
   MoveDown moveDown;