Skip to content
Snippets Groups Projects
Select Git revision
  • 26cc2e9fa80c04ece990349383adc0206613f8ab
  • master default protected
  • LUFA-170418
  • LUFA-151115
  • LUFA-140928
  • LUFA-140302
  • LUFA-130901
  • LUFA-130901-BETA
  • LUFA-130303
  • LUFA-120730
  • LUFA-120730-BETA
  • LUFA-120219
  • LUFA-120219-BETA
  • LUFA-111009
  • LUFA-111009-BETA
  • LUFA-110528
  • LUFA-110528-BETA
17 results

lufa

Automatakit API

aka project 'consistent-sandbox'

img software img hardware

Automatakit is a system architecture for robotics where machine controllers are extensible, and organized around the principle of event propagation: things happen because of other things that have happened beforehand.

We aim to take an event graph architecture down through multiple layers of computing, routing event propagation also through a message passing network between multiple cpus each operating modular hardware endpoints.

This project serves the developement environment / api we use to write and represent programs that are event graphs.

img moving

Programming Notes

  • wake up planner sequence, say hello

  • load program / don't during startup ?

  • flow control immediately ?

  • exercise to get in groove: pwm for servos & startup seq. in atkapi

  • once we can plan gcode sequence, work towards more

  • better hardware abstraction, i.e. stepper.port = bridge.port('0,1') stepper.port.onPacket = function(){ ... } callbacks ?

  • UI elements, i.e. demonstrating slider for individual axis movements, or just an arrow / keypad capture on mouseover thing

Deeply Missing

  • delete modules / module context menu
  • load / save program
  • decent page nav
  • title bar / instructions
  • heirarchy zoom
  • states / uis / etc - one off / one-at-a-time for updates
  • i.e. all f'n update calls are to single module-global state update
  • !
  • states / getters / setters not applicable to sub-elements in an object within state
  • i.e. array access
  • consistent dereferencing, type checking implementation?

Planner Bugs

  • trapezoid linking doesn't account for speed changes properly, i.e. doesn't ramp down into next move if next move's cruise speed is less than our exit speed

Want

  • log() for logs-from-module tagged

Demo Desires

  • want to show immediacy of hardware: software representation
  • want to show physical reconfigurability and software reconfigurability
  • i.e. mill, add rotary tool, pull normal vector from planner moves and route to r motor
  • want to have UI elements
  • button, terminal,
  • live motor torque display, vector from accelerometer

Network Desires

  • c improvements / dma etc, would be very cool
  • flow control probably desired ... what can we model with uart and implement with fpga?
  • proper speed tests
  • DMA not possible / not enough channels for router implementation / not portable enough ...
  • lights displaying activity

Bugs

  • when bridge has two addresses only one sends
  • add watch for identical addresses
  • besides we want a different network representation
  • cannot connect input to output w/o backwards bezier

The RPI