Differences

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

--- software [2019/02/22 15:10] – [Configure the motors] graf
+++ software [2019/02/28 16:18] (current) – graf
@@ Line 4: / Line 4: @@
   * [[hal|]]
   * [[control_system|]]
-  *
+  * [[safety_system|]]
+  * [[sequencer|]]
+  * [[calibration|]]
-===== Safety System =====
-To get more informations and details how the Safety System works, please have a look into the
-[[http://wiki.eeros.org/eeros_architecture/safety_system/start|Safety System]] described on the [[http://wiki.eeros.org/|eeros wiki]].
-{{ :delta:safetysystem.jpg |Safety System of the Delta roboter}}
-The forward paths of the Safety System are on the righthand side of the diagramm. The backward paths on the lefthand side.\\
-The entry level of the Safety System is "slOff". In the file "delta.cpp" the Safety Event "doSwInit" gets triggered. In case of any failure in the Control System, the Safety Event "doEmergency" gets registered in the timedomain.\\
-===== Sequencer & Sequences =====
-For more informations how Sequences and the Sequencer work, have a look into [[http://wiki.eeros.org/eeros_architecture/sequencer/start|Sequencer]] on the [[http://wiki.eeros.org|eeros wiki]].
-{{ :delta:software:sequencer.jpg?600 |Sequences of the Delta roboter}}
-When the homing of the Delta robot is completed the "Main Sequence" gets started. In this sequence, other sequences get added, dependent on the current Safety Level. The first activated Safety Level is "slAutoMoving". So the "Main Sequence" starts the "Sort Sequence" and waits until its finished, after that, the "Shuffle Sequence" gets started, and once again, the "Main Sequence" waits until this is finished. After that, the "Main Sequence" gets restarted, and if no Safety Event got triggered, the "Sort Sequence" and the "Shuffle Sequence" gets started again.\\
-The "Sort Sequence" and the "Shuffle Sequence" are equipped with a Monitor. This Monitor checks the "Move Mouse Condition". If the mouse gets moved, or a button on the mouse gets pressed, the Condition returns "true", the current running sequence gets aborted and the "Move Mouse Exception Sequece" gets started. This sequence moves the TCP back to init position, and triggers the Safety Event "doMouseTeaching". The "Main Sequence" now starts the "Mouse Sequence". As long as the mouse gets moved, or buttons are pressed, the "Mouse Sequence" will be active. This sequence is equipped with a "Time Out Monitor". If the mouse doesn't send any event for 2 seconds, this Monitor triggers the "MouseSequenceTimeOutExpectionSequence". This "Exception Sequence" aborts the "Mouse Sequence", moves the TCP back to the init position and triggers the Safety Event "doAutoMoving".\\ \\
-The "Calibration Sequence" can be started by triggering the Safety Event "doCalibrating". This can be done by pressing the red button until this lights up. Press and hold the red button for 2 seconds, this will trigger the Safety Event "doCalibrating". When finished with calibrating, press the red button once again. Press the green button to get back in normal operation mode.
-===== HAL =====
-To get more information about the Hardware Abstraction Layer and how it works, please have a look into the [[http://wiki.eeros.org/eeros_architecture/hal/start | HAL ]] described on the [[http://wiki.eeros.org/|eeros wiki]]. \\
-EEROS for the Beagle Bone Blue is using the [[https://github.com/StrawsonDesign/librobotcontrol|robotis_cape_library]]. You'll find the wrapper and its functions in the bbblue-eeros folder.