Changes between Version 25 and Version 26 of UserGuideGit

Timestamp:

Apr 21, 2016, 2:37:46 PM (10 years ago)

Author:

fma

Comment:

--

UserGuideGit

@@ -17 +17 @@
 The main parts of the framwork are:
 
-* the robot itself;
-* the gait sequencer;
-* some remote controllers.
+* the '''robot''' itself;
+* the '''gait sequencer''';
+* one or more '''remote controllers'''.
+
+Each of these parts runs as separate thread. For now, the robot does nothing in its main loop, ans so, can be used for further devs (automatic stabilization...).
 
 == Geometry definition ==
@@ -64 +66 @@
 ''Todo: improve drawing''
 
-=== Gait coordinates system ===
+=== Feet coordinates system ===
 
-''Or feet coordinates system?''
+They are the last coordinates systems used in this framework, and they are used by the gaits, to make to robot walk.
 
-There is the last coordinates system, which is used by the gaits, to make to robot walk. They are defined from the robot coordinates system:
+They are defined from the robot coordinates system:
 
 * the origins are at the center of the feet, in the ground plane
@@ -81 +83 @@
 The Inverse kinematic is the the kinematic equations of a robot to determine the joints parameters that provide a desired position of leg (foot).
 
-Here are the angles involved.
+Here are the angles involved:
 
 ==== 3 DoF legs ====
@@ -99 +101 @@
 == Robot ==
 
-== Drivers ==
+The '''robot''' is responsible for all static computation, ie implements the '''inverse Kinematic'''. It also manages the body position, which can move along the 3 axes, and rotate arround 3 axes.
+
+As shown in the [[Tutorials|tutorials], to implement a custom robot, you need to write a new class which inherits from {{{Robot}}}, and overload several methods:
+
+* {{{_createBody(self)}}}
+* {{{_createLegs(self)}}}
+* {{{_createActuatorPool(self)}}}
+
+This is where you choose how many legs your robot has, and how many degrees of freedon (Dof) each leg has.
+
+The {{{Robot}}} object has some usefull methods you will have to use in order to make your robot do smart things:
+
+* {{{setBodyPosition(self, x=None, y=None, z=None, yaw=None, pitch=None, roll=None)}}}
+
+This method can only be called when the robot is in ''idle'' state.
+
+It translates/rotates the body, and the new position is kept.
+
+* {{{incBodyPosition(self, dx=0., dy=0., dz=0., dyaw=0., dpitch=0., droll=0.)}}}
+
+This methods can be called in any robot state.
+
+Like the previous method, you can adjust the body position, by little steps.
+
+* {{{setBodyExtraPosition(self, x=None, y=None, z=None, yaw=None, pitch=None, roll=None)}}}
+
+This method can only be called when the robot is in ''idle'' state.
+
+Like the first method, you can translate/rotate the body. The resulting position of the body is the combination of the bodyPosition and the bodyExtraPosition.
+
+The {{{setBodyPosition()}}} is mainly use at startup, to set a pre-defined position of the body. The {{{setBodyExtraPosition()}}}, however, can be usefull to move the body arround its default position, without loosing it.
+
+* incFeetNeutral(self, dneutral)
+
+This method can only be called when the robot is in ''idle'' state.
+
+It allow you to extend/reduce the ''length'' of the legs. Each time this method is called, the robot will do a ''static walk'', in order to put all feet to there new neutral position.
+
+== Pools and drivers ==
 
 === Servos calibration ===
@@ -108 +148 @@
 
 If you launch this tool in the dir. containing your '''{{{settings.py}}}''' config file with a previous {{{SERVOS_CALIBRATION}}} dict., it will be used as default values.
-== Gaits ==
 
-== Controllers ==
+== Gaits and gait sequencer ==
+
+The gaits and gait sequencer implement the dynamic part of the movements, ie the gait itself. It computes the successive feet positions in order to make the robot walk.
+
+== Remote controllers ==
+
+A remote controller translate user orders to robot/gait sequencer methods calls.
+
+=== Using mappers ===
+
 
 === Add a new Frontend ===