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getting_started:tutorials:mockrobot

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getting_started:tutorials:mockrobot [2020/12/03 13:13] – [Mock Robot Example] ursgrafgetting_started:tutorials:mockrobot [2021/03/31 17:45] (current) – [Safety System] ursgraf
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 ====== Mock Robot Example ====== ====== 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 the examples. Start the program with +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> <code cpp>
-$ ./examples/system/mockRobotExample+$ sudo ./examples/system/mockRobotExample
 </code> </code>
  
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 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.  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> <code cpp>
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   MainSequence mainSeq("Main Sequence", sequencer, cs, ss, sp);   MainSequence mainSeq("Main Sequence", sequencer, cs, ss, sp);
   sequencer.addSequence(mainSeq);   sequencer.addSequence(mainSeq);
-  mainSeq.start();+  mainSeq();
   
   ...   ...
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 ===== Safety System ===== ===== Safety System =====
 The safety system has four levels and a couple of safety events to switch between these levels. 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''.  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''. 
  
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       } else if(ss.getCurrentLevel() == sp.slReady) {       } else if(ss.getCurrentLevel() == sp.slReady) {
         wait(2);         wait(2);
 +        cs.sw.switchToInput(1);
         ss.triggerEvent(sp.startMoving);         ss.triggerEvent(sp.startMoving);
       } else if(ss.getCurrentLevel() == sp.slMoving) {       } else if(ss.getCurrentLevel() == sp.slMoving) {
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       wait(0.1);       wait(0.1);
     }     }
 +    return 0;
   }   }
 </code> </code>
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   int action() {   int action() {
-    cs.setpointX.setValue(0.1); +    cs.setpoint.setValue({0.1, 0.1});
-    cs.setpointY.setValue(0.1);+
   }   }
   bool checkExitCondition() {   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);     if (done) ss.triggerEvent(sp.homingDone);
     return done;     return done;
   }   }
-private: 
   MockRobotControlSystem& cs;   MockRobotControlSystem& cs;
 +  SafetySystem& ss;
 +  MockRobotSafetyProperties& sp;
 }; };
 </code> </code>
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   MoveUp(std::string name, Sequence* caller, MockRobotControlSystem& cs) : Step(name, caller), cs(cs) { }   MoveUp(std::string name, Sequence* caller, MockRobotControlSystem& cs) : Step(name, caller), cs(cs) { }
   int action() {   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;   MockRobotControlSystem& cs;
 }; };
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   MoveDown(std::string name, Sequence* caller, MockRobotControlSystem& cs) : Step(name, caller), cs(cs) { }   MoveDown(std::string name, Sequence* caller, MockRobotControlSystem& cs) : Step(name, caller), cs(cs) { }
   int action() {   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;   MockRobotControlSystem& cs;
 }; };
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         moveDown();         moveDown();
       }       }
 +      return 0;
     }     }
-private: 
   MoveUp moveUp;   MoveUp moveUp;
   MoveDown moveDown;   MoveDown moveDown;
getting_started/tutorials/mockrobot.1606997616.txt.gz · Last modified: 2020/12/03 13:13 by ursgraf